Method for rapidly detecting appearance of six surfaces of product

Abstract

The invention discloses a method for rapidly detecting the appearance of six surfaces of a product, and the method employs the design of four or three detection stations to detect the appearance of six surfaces of the product, a first detection station detects the front surface of the product, and a second detection station detects the four side surfaces of the product or cooperates with a fourth detection station to detect the four side surfaces. The three detection stations are used for detecting the back face of a product, all the detection stations are independently arranged and can be independently used, arrangement space can be provided for a complex light source system, the 2D detection precision can be improved, 3D detection can also be added, the detection capacity of the optical system is improved, the four side faces are matched with the first prism and the second prism through the flying shooting technology, and the detection speed is high.

Description

Technical Field

[0001] The invention belongs to the technical field of product appearance detection, and in particular relates to a method for quickly detecting the appearance of six sides of a product. Background Art

[0002] Visual inspection is to use a camera instead of human eyes to perform inspection. It means that the appearance of the inspected object is converted into an analog signal through the machine's camera and transmitted to a dedicated image processing system. The system then converts the pixel distribution, brightness, color and other information in the image into digital signals. The image system performs various operations on these signals to extract the characteristics of the target, and then controls the equipment action on site based on the results of the judgment. This method is used to inspect the dimensional accuracy or appearance of the workpiece, which has the advantages of being fast, accurate and efficient compared to traditional manual inspection.

[0003] When inspecting the appearance defects of workpieces, it is generally necessary to carefully inspect the color, size, integrity and other details of each surface of the workpiece. At present, if a six-sided cube or rectangular box is to be inspected for appearance defects online at high speed and continuously, visual inspection cannot be used to measure it. The only way is to hold the workpiece manually and observe each surface with the human eye. Because the visual inspection camera can only detect one face of the hexahedron, by configuring multiple cameras, only 4 faces can be inspected at most. It is impossible to achieve continuous online inspection of all six faces. The process of manual inspection is slow, the effect is poor, and the efficiency is low, which is far from meeting the actual work requirements. Summary of the invention

[0004] The purpose of the present invention is to overcome the shortcomings of the prior art and provide a method for quickly detecting the appearance of six sides of a product.

[0005] The present invention adopts the following technical solution:

[0006] A method for quickly detecting the appearance of six sides of a product comprises the following steps:

[0007] Step 1: Place the product on the inspection platform of the first inspection station, and scan and collect the front appearance image of the product on the inspection platform through a first camera above the inspection platform and a first light source coaxially arranged;

[0008] Step 2, move the nozzle clamping mechanism to the top of the inspection platform, use the nozzle to absorb the front of the product to clamp and move the product to the second inspection station, pass between two first prisms arranged opposite to each other, and use the second camera located below the two first prisms to cooperate with the coaxially arranged second light source to scan and collect the images fed back by the two first prisms, wherein the emitting surface of the first prism is opposite to the side surface of the product to be tested;

[0009] Step 3: The nozzle clamping mechanism clamps the product and moves it backward to the third inspection station. The third camera arranged vertically on the third inspection station cooperates with the third light source arranged coaxially to scan and collect the appearance image of the back of the product. When the product moves to the third inspection station, the third camera is located directly below the product, and the third light source is located between the product and the third camera.

[0010] Step 4, the nozzle clamping mechanism clamps the product and continues to move backward to the detection station four, passing between the two second prisms arranged opposite to each other. During the movement to the detection station four, the nozzle clamping mechanism simultaneously controls the nozzle to drive the product to rotate 90°, so that the two side surfaces that are not inspected are respectively opposite to the two second prisms during the movement, and the fourth camera located below the second prism cooperates with the coaxially arranged fourth light source to scan and collect the images fed back by the two second prisms, wherein the reflective surface of the second prism is opposite to the side surface of the product to be inspected;

[0011] Step 5: The graphics processing system processes the image information fed back by the first camera, the second camera, the third camera, and the fourth camera to obtain appearance image information of six sides of the product;

[0012] Among them, the detection station one, the detection station two, the detection station three and the detection station four are arranged at intervals along the moving direction of the nozzle clamping mechanism, and the two first prisms and the two second prisms are arranged front and back oppositely.

[0013] Preferably, the suction nozzle clamping mechanism includes a clamping seat, a movable seat arranged on the clamping seat and movable up and down, a movable cylinder arranged on the clamping seat and connected to and driving the movable seat to move, a rotating seat rotatably arranged on the mobile seat, a suction nozzle arranged at the front end of the rotating seat and capable of sucking the product, a rotating motor arranged on the mobile seat and connected to and driving the rotating seat to rotate, and a negative pressure mechanism arranged on the mobile seat and connected to the suction nozzle.

[0014] Preferably, the rotating motor includes a hollow screw, the negative pressure mechanism includes a negative pressure seat arranged on the movable seat and connected to the upper end of the hollow screw, a negative pressure cavity formed in the negative pressure seat and connected to the hollow screw, and the lower end of the hollow screw extends into the rotating seat and is connected to the suction nozzle.

[0015] Preferably, the negative pressure mechanism also includes a rotating joint arranged between the negative pressure seat and the hollow screw rod, a groove-shaped photoelectric sensor arranged on the movable seat on one side of the rotating joint, and a detection block arranged on the outer periphery of the rotating joint and capable of cooperating with the groove-shaped photoelectric sensor, the groove-shaped photoelectric sensor including a U-shaped groove opposite to the rotating joint, and the detection block can be rotated into the U-shaped groove.

[0016] Preferably, a plurality of positioning holes are provided on the product, and a plurality of positioning columns which can be embedded in the relative positioning holes are provided on the opposite surface of the rotating seat and the product. When the suction nozzle adsorbs the product, the positioning columns will be embedded in the relative positioning holes to limit the position of the product so that the side of the product is opposite to the reflective surface relative to the first prism.

[0017] Preferably, the suction nozzle clamping mechanism also includes a buffer assembly arranged between the movable seat and the movable cylinder, and the buffer assembly includes a buffer seat connected to the front end of the movable cylinder, a buffer rod movably arranged in the movable seat and connected to the lower end of the buffer seat, and a buffer spring mounted on both ends of the outer periphery of the buffer rod and respectively connecting the buffer seat and the movable seat.

[0018] Preferably, the nozzle clamping mechanism also includes a guide assembly arranged between the clamping seat and the buffer seat and the moving seat, and the guide assembly includes a guide slide rail extending along the moving direction of the moving seat and arranged on the clamping seat and two guide sliders arranged on the guide slide rail and connected to the buffer seat and the moving seat respectively.

[0019] Preferably, the midpoint of the reflection surface of the first prism and the midpoint of the side surface of the product to be tested are in the same horizontal plane, and the midpoint of the reflection surface of the second prism and the midpoint of the side surface of the product to be tested are in the same horizontal plane.

[0020] Preferably, the two first prisms can move toward or away from each other, and the two second prisms can move toward or away from each other.

[0021] A method for quickly detecting the appearance of six sides of a product comprises the following steps:

[0022] Step 1: Place the product on the inspection platform of the first inspection station, and scan and collect the front appearance image of the product on the inspection platform through a first camera above the inspection platform and a first light source coaxially arranged;

[0023] Step 2, move the nozzle clamping mechanism to the top of the inspection platform, use the nozzle to absorb the front of the product to clamp and move the product to the second inspection station, pass between two first prisms arranged opposite to each other, and use the second camera located below the two first prisms to cooperate with the coaxially arranged second light source to scan and collect the images fed back by the two first prisms, wherein the emitting surface of the first prism is opposite to the side surface of the product to be tested;

[0024] Step 3: The nozzle clamping mechanism clamps the product and moves it backward to the third inspection station. The third camera arranged vertically on the third inspection station cooperates with the third light source arranged coaxially to scan and collect the appearance image of the back of the product. When the product moves to the third inspection station, the third camera is located directly below the product, and the third light source is located between the product and the third camera.

[0025] Step 4: The nozzle clamping mechanism clamps the product and moves it in the reverse direction to the second inspection station, passing between the two first prisms that are arranged opposite to each other. During the reverse movement to the second inspection station, the nozzle clamping mechanism simultaneously controls the nozzle to drive the product to rotate 90°, so that the two side surfaces that are not inspected are respectively opposite to the two first prisms during the movement, and the second camera located below the first prism cooperates with the coaxially arranged second light source to scan and collect the images fed back by the two second prisms;

[0026] Step 5: The graphics processing system processes the image information fed back by the first camera, the second camera, and the third camera to obtain appearance image information of six sides of the product.

[0027] From the above description of the present invention, it can be seen that compared with the prior art, the beneficial effects of the present invention are as follows: the present application adopts a design of four inspection stations or three inspection stations to inspect the appearance of the six sides of the product, inspection station one inspects the front of the product, inspection station two inspects the four sides of the product or cooperates with inspection station four to inspect the four sides, and inspection station three inspects the back of the product. Each inspection station is independently set and can be used independently, which can provide layout space for complex light source systems, improve the accuracy of 2D detection, and increase 3D detection, thereby enhancing the detection capability of the optical system. Among them, the four sides adopt flying shooting technology in conjunction with the first prism and the second prism, and the detection speed is fast. At the same time, the distance between the two first prisms or the two second prisms can be adjusted to cooperate with the detection of products of different sizes. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a detection flow chart of Example 1;

[0029] Figure 2 This is a schematic diagram of the inspection of the inspection station 1;

[0030] Figure 3 This is a schematic diagram of the inspection of the second inspection station;

[0031] Figure 4 This is a schematic diagram of the inspection of the inspection station three;

[0032] Figure 5 This is a schematic diagram of the detection of the detection station four;

[0033] Figure 6 Schematic diagram of the nozzle clamping mechanism Figure 1 ;

[0034] Figure 7 Schematic diagram of the nozzle clamping mechanism Figure 2 ;

[0035] Figure 8 Schematic diagram of the nozzle clamping mechanism Figure 3 ;

[0036] Fig. 9 It is a detection flow chart of Example 2;

[0037] In the figure, 1-inspection station 1, 2-inspection station 2, 3-inspection station 3, 4-inspection station 4, 5-nozzle clamping mechanism, 6-product, 11-inspection carrier, 12-first camera, 13-first light source, 21-first prism, 22-second camera, 23-second light source, 31-third camera, 32-third light source, 41-second prism, 42-fourth camera, 43-fourth light source, 51-clamping seat, 52-moving seat, 53-moving cylinder, 54-rotating Rotating seat, 541-positioning column, 55-suction nozzle, 56-rotating motor, 561-hollow screw, 57-negative pressure mechanism, 571-negative pressure seat, 572-negative pressure chamber, 573-rotating joint, 574-groove photoelectric sensor, 5741-U-shaped groove, 575-detection block, 58-buffer assembly, 581-buffer seat, 582-buffer rod, 583-buffer spring, 59-guide assembly, 591-guide rail, 592-guide slider, 61-positioning hole. DETAILED DESCRIPTION

[0038] The present invention is further described below through specific implementation modes.

[0039] There are two specific implementation methods for the six-sided appearance of the product of this application, as follows:

[0040] Example 1

[0041] Reference Figure 1 As shown, a method for quickly detecting the appearance of six sides of a product comprises the following steps:

[0042] Step 1, placing the product 6 on the inspection platform 11 of the inspection station 1, and scanning and collecting the front appearance image of the product 6 on the inspection platform 11 by using the first camera 12 above the inspection platform 11 and the first light source 13 coaxially arranged;

[0043] Step 2, move the nozzle clamping mechanism 5 to the top of the detection stage 11, use the nozzle 55 to absorb the front of the product 6 to clamp the product 6 and move it to the detection station 2 2, pass between the two first prisms 21 arranged opposite to each other, and use the second camera 22 located below the two first prisms 21 to cooperate with the coaxially arranged second light source 23 to scan and collect the images fed back by the two first prisms 21, wherein the emitting surface of the first prism 21 is opposite to the side surface of the product 6 to be tested;

[0044] Step 3, the nozzle clamping mechanism 5 clamps the product and moves it backward to the inspection station 3 3, and the third camera 31 arranged vertically on the inspection station 3 cooperates with the third light source 32 arranged coaxially to scan and collect the appearance image of the back side of the product 6. When the product moves to the inspection station 3 3, the third camera 31 is located directly below the product 6, and the third light source 32 is located between the product 6 and the third camera 31;

[0045] Step 4, the nozzle clamping mechanism 5 clamps the product and continues to move backward to the inspection station 44, passing between the two second prisms 41 arranged opposite to each other. During the movement to the inspection station 44, the nozzle clamping mechanism 5 simultaneously controls the nozzle 55 to drive the product to rotate 90°, so that the two side surfaces that are not inspected are respectively opposite to the two second prisms 41 during the movement, and the fourth camera 42 located below the second prism 41 cooperates with the coaxially arranged fourth light source 43 to scan and collect the images fed back by the two second prisms 41, wherein the reflection surface of the second prism 41 is opposite to the side surface to be inspected of the product 6;

[0046] Step 5: The graphics processing system processes the image information fed back by the first camera 12, the second camera 22, the third camera 31, and the fourth camera 42 to obtain appearance image information of six sides of the product.

[0047] In this embodiment, the inspection station 1, the inspection station 2, the inspection station 3, and the inspection station 4 are arranged at intervals along the moving direction of the suction nozzle clamping mechanism 5, and the two first prisms 21 and the two second prisms 41 are arranged front to back oppositely; wherein, the four inspection stations can work independently and have strong versatility, and the first prism 21 and the second prism 41 both adopt semi-enclosed reflecting prisms; specifically, the midpoint of the reflecting surface of the first prism 21 and the midpoint of the side surface to be measured of the product 6 are in the same horizontal plane, and the midpoint of the reflecting surface of the second prism 41 and the midpoint of the side surface to be measured of the product 6 are in the same horizontal plane, and the upper end of the reflecting surface of the first prism 21 or the second prism 41 is higher than the front side of the product 6, and the lower end is lower than the back side of the product 6, ensuring that the first prism 21 or the second prism 41 can provide complete feedback on the appearance of the side surface to be measured of the product 6; further, the two first prisms 21 can move toward or away from each other, and the two second prisms 41 can move toward or away from each other, so as to realize the detection of products 6 of different sizes, with high compatibility.

[0048] When inspecting the appearance of the six sides of the product, while ensuring the integrity and clarity of the image captured by the camera, the maximum moving speed of the product 6 between the inspection station 1 and the inspection station 4 is obtained by adjusting the exposure time of the first camera 12, the second camera 22, the third camera 131 and the fourth camera 42 and the brightness of the first light source 13, the second light source 23, the third light source 32 and the fourth light source 43.

[0049] The nozzle clamping mechanism 5 includes a clamping seat 51, a moving seat 52 that can be moved up and down and is arranged on the clamping seat 51, a moving cylinder 53 that is arranged on the clamping seat 51 and is connected to and drives the moving seat 52 to move, a rotating seat 54 that can be rotatably arranged on the moving seat 52, two suction nozzles 55 that are spaced apart and can adsorb the product 6 at the front end of the rotating seat 54, a rotating motor 56 that is arranged on the moving seat 52 and is connected to and drives the rotating seat 54 to rotate, a negative pressure mechanism 57 that is arranged on the moving seat 52 and is connected to the suction nozzle 55, a buffer component 58 that is arranged between the moving seat 52 and the moving cylinder 53, and a gas filter that is arranged on the clamping seat 51 and is connected to the moving seat 52 and the buffer component 58. A guide assembly 59, wherein a plurality of positioning holes 61 are provided on the product 6, and a plurality of positioning posts 541 which can be embedded in the relative positioning holes 61 are provided on the opposite surface of the rotating seat 54 and the product 6. When the suction nozzle 55 adsorbs the product 6, the positioning posts 541 will be embedded in the relative positioning holes 61 to limit the position of the product 6, thereby ensuring that the product 6 will not be offset, so that the side of the product 6 is opposite to the reflective surface of the first prism 21; specifically, the rotating motor 56 adopts a hollow motor, including a hollow screw 561; further, the rotating axis of the rotating seat 54 is coaxially arranged with the first camera 12, the second camera 22, the third camera 31 and the fourth camera 42.

[0050] The negative pressure mechanism 57 includes a negative pressure seat 571 arranged on the moving seat 52 and connected to the upper end of the hollow screw 561, a negative pressure chamber 572 formed in the negative pressure seat 571 and connected to the hollow screw 561, a rotating joint 573 arranged between the negative pressure seat 571 and the hollow screw 561, a groove-shaped photoelectric sensor 574 arranged on the moving seat 52 at one side of the rotating joint 573, and a detection block 575 arranged on the periphery of the rotating joint 573 and capable of cooperating with the groove-shaped photoelectric sensor 574, wherein the lower end of the hollow screw 561 extends into the rotating seat 54 and is connected to the two suction nozzles 55; the groove-shaped photoelectric sensor 574 includes a U-shaped groove 5741 opposite to the rotating joint 573, and the detection block 575 can be rotated into the U-shaped groove 5741; when working, the negative pressure seat 571 is connected to the negative pressure source to realize the adsorption and clamping of the product 6 by the suction nozzle 55.

[0051] The buffer assembly 58 includes a buffer seat 581 connected to the front end of the mobile cylinder 53, a buffer rod 582 movably arranged in the mobile seat 52 and connected to the lower end of the buffer seat 581, and a buffer spring 583 sleeved on both ends of the outer periphery of the buffer rod 582 to respectively connect the buffer seat 581 and the mobile seat. By limiting the structure of the buffer assembly 58, when the suction nozzle 55 adsorbs the product 6, an upward buffer space is provided to prevent the product 6 from being crushed; wherein, a limit block is provided at the lower end of the buffer rod 582 to prevent the buffer rod 582 from detaching from the mobile seat 52.

[0052] The guide assembly 59 is arranged between the clamping seat 51 and the buffer seat 581 and the moving seat 52, and includes a guide rail 591 extending along the moving direction of the moving seat 52 and arranged on the clamping seat 51, and two guide sliders 592 are arranged on the guide rail 591 and connected with the buffer seat 581 and the moving seat 52 respectively. Through the cooperation between the guide slider 592 and the guide rail 591, it is ensured that the moving seat 52 and the buffer seat 581 can move up and down stably.

[0053] Example 2

[0054] A method for quickly detecting the appearance of six sides of a product comprises the following steps:

[0055] Step 1, placing the product 6 on the inspection platform 11 of the inspection station 1, and scanning and collecting the front appearance image of the product 6 on the inspection platform 11 by using the first camera 12 above the inspection platform 11 and the first light source 13 coaxially arranged;

[0056] Step 2, move the nozzle clamping mechanism 5 to the top of the detection stage 11, use the nozzle 55 to absorb the front of the product 6 to clamp the product 6 and move it to the detection station 2 2, pass between the two first prisms 21 arranged opposite to each other, and use the second camera 22 located below the two first prisms 21 to cooperate with the coaxially arranged second light source 23 to scan and collect the images fed back by the two first prisms 21, wherein the emitting surface of the first prism 21 is opposite to the side surface of the product 6 to be tested;

[0057] Step 3, the nozzle clamping mechanism 5 clamps the product 6 and moves it backward to the inspection station 3 3, and the third camera 31 arranged vertically on the inspection station 3 cooperates with the third light source 32 arranged coaxially to scan and collect the appearance image of the back side of the product 6. When the product 6 moves to the inspection station 3 3, the third camera 31 is located directly below the product 6, and the third light source 32 is located between the product and the third camera 31;

[0058] Step 4, the nozzle clamping mechanism 5 clamps the product 6 and moves it in the reverse direction to the second inspection station 2, passes between the two first prisms 21 arranged opposite to each other, and in the process of moving in the reverse direction to the second inspection station 2, the nozzle clamping mechanism 5 simultaneously controls the nozzle 55 to drive the product to rotate 90°, so that the two side surfaces that are not inspected are respectively opposite to the two first prisms 21 during the movement, and the second camera 22 located below the first prism 21 cooperates with the coaxially arranged second light source 23 to scan and collect the images fed back by the two second prisms 21;

[0059] Step 5: The graphics processing system processes the image information fed back by the first camera 12, the second camera 22, and the third camera 31 to obtain appearance image information of six sides of the product.

[0060] The above-mentioned detection method is suitable for scenarios where the equipment occupies limited space. The nozzle clamping mechanism 5 mentioned therein has the same structure as the nozzle clamping mechanism involved in Example 1, and will not be further elaborated here; wherein, detection station one 1, detection station two 2, and detection station three 3 are arranged at intervals along the moving direction of the nozzle clamping mechanism 5.

[0061] The present application adopts a design of four inspection stations or three inspection stations to inspect the appearance of the six sides of the product. Inspection station 1 inspects the front of the product 6, inspection station 2 inspects the four sides of the product 6 or cooperates with inspection station 4 to inspect the four sides, and inspection station 3 inspects the back of the product. Each inspection station is independently set and can be used independently, which can provide layout space for complex light source systems, improve the accuracy of 2D detection, and increase 3D detection to enhance the detection capability of the optical system. Among them, the four sides adopt flying shooting technology in conjunction with the first prism 21 and the second prism 41, and the detection speed is fast. At the same time, the distance between the two first prisms 21 or the two second prisms 41 can be adjusted to cooperate with the detection of products of different sizes.

[0062] The above description is only a preferred embodiment of the present invention, and therefore cannot be used to limit the scope of implementation of the present invention. That is, equivalent changes and modifications made according to the scope of the patent application of the present invention and the contents of the specification should still fall within the scope covered by the patent of the present invention.

Claims

1. A method for quickly detecting the appearance of six sides of a product, characterized in that: The following steps are involved: Step 1: Place the product on the inspection platform of the first inspection station, and scan and collect the front appearance image of the product on the inspection platform through a first camera above the inspection platform and a first light source coaxially arranged; Step 2, move the nozzle clamping mechanism to the top of the inspection platform, use the nozzle to absorb the front of the product to clamp and move the product to the second inspection station, pass between two first prisms arranged opposite to each other, and use the second camera located below the two first prisms to cooperate with the coaxially arranged second light source to scan and collect the images fed back by the two first prisms, wherein the emitting surface of the first prism is opposite to the side surface of the product to be tested; Step 3: The nozzle clamping mechanism clamps the product and moves it backward to the third inspection station. The third camera arranged vertically on the third inspection station cooperates with the third light source arranged coaxially to scan and collect the appearance image of the back of the product. When the product moves to the third inspection station, the third camera is located directly below the product, and the third light source is located between the product and the third camera. Step 4, the nozzle clamping mechanism clamps the product and continues to move backward to the detection station four, passing between the two second prisms arranged opposite to each other. During the movement to the detection station four, the nozzle clamping mechanism simultaneously controls the nozzle to drive the product to rotate 90°, so that the two side surfaces that are not inspected are respectively opposite to the two second prisms during the movement, and the fourth camera located below the second prism cooperates with the coaxially arranged fourth light source to scan and collect the images fed back by the two second prisms, wherein the reflective surface of the second prism is opposite to the side surface of the product to be inspected; Step 5: The graphics processing system processes the image information fed back by the first camera, the second camera, the third camera, and the fourth camera to obtain appearance image information of six sides of the product; Among them, the detection station one, the detection station two, the detection station three and the detection station four are arranged at intervals along the moving direction of the nozzle clamping mechanism, and the two first prisms and the two second prisms are arranged front and back oppositely.

2. A method for rapidly detecting the appearance of six surfaces of a product according to claim 1, characterized in that: The suction nozzle clamping mechanism includes a clamping seat, a movable seat arranged on the clamping seat and capable of moving up and down, a movable cylinder arranged on the clamping seat and connected to and driving the movable seat to move, a rotating seat rotatably arranged on the movable seat, a suction nozzle arranged at the front end of the rotating seat and capable of sucking the product, a rotating motor arranged on the mobile seat and connected to and driving the rotating seat to rotate, and a negative pressure mechanism arranged on the mobile seat and connected to the suction nozzle.

3. A method for rapidly detecting the appearance of six surfaces of a product according to claim 2, characterized in that: The rotating motor includes a hollow screw, and the negative pressure mechanism includes a negative pressure seat arranged on a movable seat and connected to the upper end of the hollow screw, a negative pressure cavity formed in the negative pressure seat and connected to the hollow screw, and the lower end of the hollow screw extends into the rotating seat and is connected to the suction nozzle.

4. A method for rapidly detecting the appearance of six surfaces of a product according to claim 3, characterized in that: The negative pressure mechanism also includes a rotating joint arranged between the negative pressure seat and the hollow screw rod, a groove-shaped photoelectric sensor arranged on the movable seat on one side of the rotating joint, and a detection block arranged on the outer periphery of the rotating joint and capable of cooperating with the groove-shaped photoelectric sensor, wherein the groove-shaped photoelectric sensor includes a U-shaped groove opposite to the rotating joint, and the detection block can be rotated into the U-shaped groove.

5. The method for quickly detecting the appearance of six sides of a product according to claim 2, characterized in that: A plurality of positioning holes are arranged on the product, and a plurality of positioning posts which can be embedded in the relative positioning holes are arranged on the opposite surface of the rotating seat and the product. When the suction nozzle adsorbs the product, the positioning posts will be embedded in the relative positioning holes to limit the position of the product so that the side surface of the product is opposite to the reflective surface relative to the first prism.

6. A method for rapidly detecting the appearance of six surfaces of a product according to claim 5, characterized in that: The suction nozzle clamping mechanism also includes a buffer assembly arranged between the movable seat and the movable cylinder, and the buffer assembly includes a buffer seat connected to the front end of the movable cylinder, a buffer rod movably arranged in the movable seat and connected to the lower end of the buffer seat, and a buffer spring sleeved on both ends of the outer periphery of the buffer rod and respectively connecting the buffer seat and the movable seat.

7. A method for rapidly detecting the appearance of six surfaces of a product according to claim 6, characterized in that: The nozzle clamping mechanism also includes a guide assembly arranged between the clamping seat and the buffer seat and the moving seat. The guide assembly includes a guide slide rail extending along the moving direction of the moving seat and arranged on the clamping seat, and two guide sliders arranged on the guide slide rail and connected to the buffer seat and the moving seat respectively.

8. The method for quickly detecting the appearance of six sides of a product according to claim 1, characterized in that: The midpoint of the reflection surface of the first prism and the midpoint of the side surface of the product to be tested are in the same horizontal plane, and the midpoint of the reflection surface of the second prism and the midpoint of the side surface of the product to be tested are in the same horizontal plane.

9. The method for quickly detecting the appearance of six sides of a product according to claim 1, characterized in that: The two first prisms can move toward or away from each other, and the two second prisms can move toward or away from each other.

10. A method for quickly detecting the appearance of six sides of a product, characterized in that: The following steps are involved: Step 1: Place the product on the inspection platform of the first inspection station, and scan and collect the front appearance image of the product on the inspection platform through a first camera above the inspection platform and a first light source coaxially arranged; Step 2, move the nozzle clamping mechanism to the top of the inspection platform, use the nozzle to absorb the front of the product to clamp and move the product to the second inspection station, pass between two first prisms arranged opposite to each other, and use the second camera located below the two first prisms to cooperate with the coaxially arranged second light source to scan and collect the images fed back by the two first prisms, wherein the emitting surface of the first prism is opposite to the side surface of the product to be tested; Step 3: The nozzle clamping mechanism clamps the product and moves it backward to the third inspection station. The third camera arranged vertically on the third inspection station cooperates with the third light source arranged coaxially to scan and collect the appearance image of the back of the product. When the product moves to the third inspection station, the third camera is located directly below the product, and the third light source is located between the product and the third camera. Step 4: The nozzle clamping mechanism clamps the product and moves it in the reverse direction to the second inspection station, passing between the two first prisms that are arranged opposite to each other. During the reverse movement to the second inspection station, the nozzle clamping mechanism simultaneously controls the nozzle to drive the product to rotate 90°, so that the two side surfaces that are not inspected are respectively opposite to the two first prisms during the movement, and the second camera located below the first prism cooperates with the coaxially arranged second light source to scan and collect the images fed back by the two second prisms; Step 5: The graphics processing system processes the image information fed back by the first camera, the second camera, and the third camera to obtain appearance image information of six sides of the product.

Images