A method for rapidly detecting the six faces appearance of a product

Abstract

The application discloses a method for rapidly detecting six faces of a product, and four detection stations or three detection stations are adopted to detect the six faces of the product. The front face of the product is detected by a first detection station, four side faces of the product are detected by a second detection station or in cooperation with a fourth detection station, the back face of the product is detected by a third detection station, each detection station is independently arranged and can be independently used, the arrangement space can be provided for a complex light source system, the accuracy of 2D detection can be improved, 3D detection can be increased, and the detection capability of the optical system is improved. In the method, the four side faces are detected by using a flying shutter technology in cooperation with a first prism and a second prism, and the detection speed is high.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of product appearance detection, and particularly relates to a method for rapidly detecting the six-face appearance of a product. BACKGROUND

[0002] Visual detection is to replace the human eye with a camera to detect, which is to convert the shape of a detected object into an analog signal through a camera of a machine, and then transmit the analog signal to a dedicated image processing system, and then the system 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 action of the on-site equipment according to the judgment result. The method has the advantages of rapidness, accuracy and high efficiency compared with traditional manual detection in the detection of the size precision or appearance of a workpiece.

[0003] In the detection of the appearance defects of a workpiece, the color, size, integrity and other details of each surface of the workpiece need to be carefully detected. At present, if a six-faced cube or cuboid packaging box is to be continuously and on-line detected for appearance defects at a high speed, visual detection cannot be used to measure it, and only manual observation of each face can be performed by holding the workpiece with hands. Because the camera of the visual detection can only detect one face of the six-faced cube, at most four faces can be detected by configuring multiple cameras. It is impossible to realize the continuous and on-line detection of the six faces. The manual detection has the disadvantages of slow process speed, poor effect and low efficiency, and cannot meet the actual work requirements. SUMMARY

[0004] The application aims to overcome the defects of the prior art and provide a method for rapidly detecting the six-face appearance of a product.

[0005] The application adopts the following technical scheme:

[0006] A method for rapidly detecting the six-face appearance of a product, comprising the following steps:

[0007] Step 1: placing a product on a detection work station one, and scanning and collecting the front appearance image of the product on the detection work station through a first camera above the detection work station and a first light source arranged in the same axis;

[0008] Step 2: moving a suction nozzle clamping mechanism above the detection work station, using the suction nozzle to adsorb the front of the product to clamp and move the product to a detection work station two, passing through two first prisms arranged oppositely, and scanning and collecting the image feedback by the two first prisms through a second camera below the two first prisms and a second light source arranged in the same axis, wherein the reflection surface of the first prism is opposite to the side to be detected of the product;

[0009] Step 3, the suction nozzle clamping mechanism clamps the product to move backward to the detection station three, and the third camera vertically arranged on the detection station three is matched with the third light source coaxially arranged to scan and collect the back appearance image of the product. When the product moves to the detection station three, 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 suction nozzle clamping mechanism clamps the product to continue to move backward to the detection station four, and passes through the two second prisms arranged oppositely. During the movement to the detection station four, the suction nozzle clamping mechanism controls the suction nozzle to drive the product to rotate 90° at the same time, so that the two side faces which are not detected are opposite to the two second prisms respectively during the movement. The fourth camera located below the second prism is matched with the fourth light source coaxially arranged to scan and collect the image feedback by the two second prisms, wherein the reflecting surface of the second prism is opposite to the side face to be detected of the product.

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

[0012] Preferably, 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 suction nozzle clamping mechanism, and the two first prisms and the two second prisms are arranged opposite to each other.

[0013] Preferably, the suction nozzle clamping mechanism comprises a clamping seat, a moving seat movably arranged on the clamping seat, a moving cylinder arranged on the clamping seat and connected to drive the moving seat to move, a rotating seat rotatably arranged on the moving seat, a suction nozzle arranged at the front end of the rotating seat and capable of adsorbing the product, a rotating motor arranged on the moving seat and connected to drive the rotating seat to rotate, and a negative pressure mechanism arranged on the moving seat and connected with the suction nozzle.

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

[0015] Preferably, the negative pressure mechanism further comprises a rotary joint arranged between the negative pressure seat and the hollow lead screw, a slot-shaped photoelectric sensor arranged on the moving seat and located on one side of the rotary joint, and a detection block arranged on the outer periphery of the rotary joint and capable of cooperating with the slot-shaped photoelectric sensor. The slot-shaped photoelectric sensor comprises a U-shaped slot opposite to the rotary joint, and the detection block can be rotated into the U-shaped slot.

[0016] Preferably, the product is provided with a plurality of positioning holes, the rotating seat is provided with a plurality of positioning columns on the opposite surface of the product, which can be embedded in the opposite positioning holes, when the suction nozzle adsorbs the product, the positioning columns are embedded in the opposite positioning holes, the position of the product is limited, and the side surface of the product is opposite to the reflection surface of the first prism.

[0017] Preferably, the suction nozzle clamping mechanism further comprises a buffer assembly arranged between the moving seat and the moving cylinder, the buffer assembly comprises a buffer seat connected to the front end of the moving cylinder, a buffer rod movably arranged in the moving seat and connected to the lower end of the buffer seat, and buffer springs sleeved on the outer periphery of the buffer rod and connected to the buffer seat and the moving seat at both ends.

[0018] Preferably, the suction nozzle clamping mechanism further comprises a guide assembly arranged between the clamping seat and the buffer seat and the moving seat, the guide assembly comprises a guide rail arranged on the clamping seat in the moving direction of the moving seat and two guide blocks arranged on the guide rail and connected to the buffer seat and the moving seat respectively.

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

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

[0021] A method for quickly detecting the appearance of six surfaces of a product, comprising the following steps:

[0022] Step 1, placing the product on the detection workbench of detection station 1, and scanning and collecting the front appearance image of the product on the detection workbench by the first camera above the detection workbench in cooperation with the first light source arranged in the same axis;

[0023] Step 2, moving the suction nozzle clamping mechanism above the detection workbench, adsorbing the front surface of the product by the suction nozzle to clamp and move the product to detection station 2, passing through the two first prisms arranged oppositely, and scanning and collecting the image feedback by the second camera below the two first prisms in cooperation with the second light source arranged in the same axis, wherein the reflection surface of the first prism is opposite to the side surface of the product to be detected.

[0024] Step 3, moving the product clamped by the suction nozzle clamping mechanism to detection station 3, scanning and collecting the back appearance image of the product by the third camera arranged vertically on detection station 3 in cooperation with the third light source arranged in the same axis, when the product moves to detection station 3, 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 suction nozzle clamping mechanism clamps the product and reversely moves to the second detection station, passes between the two oppositely arranged first prisms, and reversely moves to the second detection station, in the process, the suction nozzle clamping mechanism controls the suction nozzle to drive the product to rotate 90°, so that the two sides not detected are opposite to the two first prisms respectively in the moving process, and the second camera located below the first prism scans and collects the images fed back by the two first prisms with the second light source arranged in the same axis;

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

[0027] From the above description of the application, compared with the prior art, the beneficial effects of the application are: the application adopts the design of four detection stations or three detection stations to detect the six-face appearance of the product, the front face of the product is detected by the first detection station, the four sides of the product are detected by the second detection station or cooperated with the fourth detection station to detect the four sides, the back face of the product is detected by the third detection station, each detection station is independently arranged and can be independently used, can provide arrangement space for complex light source system, can improve the accuracy of 2D detection, also can increase 3D detection, and further improve the detection capability of optical system, wherein, the four sides adopt the flash photography technology cooperated with the first prism and the second prism, the detection speed is fast, and at the same time, the detection of products with different sizes can be cooperated by adjusting the distance between the two first prisms or the two second prisms. BRIEF DESCRIPTION OF DRAWINGS

[0028] Figure 1 It is the detection flow chart of example 1;

[0029] Figure 2 It is the detection schematic diagram of the first detection station;

[0030] Figure 3 It is the detection schematic diagram of the second detection station;

[0031] Figure 4 It is the detection schematic diagram of the third detection station;

[0032] Figure 5 It is the detection schematic diagram of the fourth detection station;

[0033] Figure 6 It is the structure schematic diagram of the suction nozzle clamping mechanism Figure 1 ;

[0034] Figure 7 It is the structure schematic diagram of the suction nozzle clamping mechanism Figure 2 ;

[0035] Figure 8 It is the structure schematic diagram of the suction nozzle clamping mechanism Figure 3 ;

[0036] Figure 9 The detection flow chart of Example 2;

[0037] In the figure, 1-detection station one, 2-detection station two, 3-detection station three, 4-detection station four, 5-nozzle clamping mechanism, 6-product, 11-detection stage, 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-rotary seat, 541-positioning column, 55-nozzle, 56-rotary motor, 561-hollow lead screw, 57-negative pressure mechanism, 571-negative pressure seat, 572-negative pressure cavity, 573-rotary 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-guiding assembly, 591-guiding slide rail, 592-guiding slide block, 61-positioning hole. DETAILED DESCRIPTION

[0038] The application will be further described below through specific embodiments.

[0039] The product six-face appearance has two specific embodiments, which are as follows: Example 1

[0040] Referring to Figure 1 The figure shows a method for quickly detecting the six-face appearance of a product, which comprises the following steps:

[0041] Step 1, placing the product 6 on the detection stage 11 of the detection station one 1, and scanning and collecting the front appearance image of the product 6 on the detection stage 11 by the first camera 12 above the detection stage 11 in cooperation with the first light source 13 arranged in the same axis;

[0042] Step 2, moving the nozzle clamping mechanism 5 above the detection stage 11, and clamping and moving the product 6 to the detection station two 2 by using the nozzle 55 to adsorb the front of the product 6, and scanning and collecting the image feedback by the two first prisms 21 from the second camera 22 below the two first prisms 21 in cooperation with the second light source 23 arranged in the same axis, wherein the reflecting surface of the first prism 21 is opposite to the side of the product 6 to be detected;

[0043] Step 3, the suction nozzle clamping mechanism 5 clamps the product to move backward to the detection station three 3, and the back appearance image of the product 6 is scanned and collected by the third camera 31 vertically arranged on the detection station three 3 matched with the third light source 32 coaxially arranged; when the product moves to the detection station three 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;

[0044] Step 4, the suction nozzle clamping mechanism 5 clamps the product to continue to move backward to the detection station four 4, and pass through the two second prisms 41 arranged oppositely; during the moving process to the detection station four 4, the suction nozzle clamping mechanism 5 controls the suction nozzle 55 to drive the product to rotate 90° at the same time, so that the two sides not detected move in the process and are opposite to the two second prisms 41 respectively, and the fourth camera 42 located below the second prism 41 scans and collects the image feedback by the fourth light source 43 coaxially arranged with the fourth camera 42, wherein the reflection surface of the second prism 41 is opposite to the side of the product 6 to be detected.

[0045] Step 5, the image 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 the six-surface appearance image information of the product.

[0046] In the embodiment, the detection station one 1, the detection station two 2, the detection station three 3 and the detection station four 4 are arranged 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 opposite to each other; wherein, the four detection stations can work independently, and have strong versatility; the first prism 21 and the second prism 41 are both semi-closed reflection prisms; specifically, the midpoint of the reflection surface of the first prism 21 and the midpoint of the side of the product 6 to be detected are in the same horizontal plane, the midpoint of the reflection surface of the second prism 41 and the midpoint of the side of the product 6 to be detected are in the same horizontal plane, and the upper end of the reflection surface of the first prism 21 or the second prism 41 is higher than the front surface of the product 6, and the lower end is lower than the back surface of the product 6, so as to ensure that the first prism 21 or the second prism 41 can completely feedback the appearance of the side of the product 6 to be detected; further, the two first prisms 21 can move towards or away from each other, and the two second prisms 41 can move towards or away from each other, so as to realize the detection of products 6 of different sizes, and have high compatibility.

[0047] When the six-surface appearance of the product is detected, the maximum moving speed of the product 6 between the detection station one 1 and the detection station four 4 is obtained by the mutual cooperation and adjustment of 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, under the condition of ensuring the completeness and clarity of the image collected by the camera.

[0048] The suction nozzle clamping mechanism 5 comprises a clamping seat 51, a movable seat 52 movably arranged on the clamping seat 51, a moving cylinder 53 arranged on the clamping seat 51 and connected to drive the movable seat 52 to move, a rotating seat 54 rotatably arranged on the movable seat 52, two suction nozzles 55 arranged at the front end of the rotating seat 54 and capable of adsorbing the product 6, a rotating motor 56 arranged on the movable seat 52 and connected to drive the rotating seat 54 to rotate, a negative pressure mechanism 57 arranged on the movable seat 52 and connected to the suction nozzles 55, a buffer assembly 58 arranged between the movable seat 52 and the moving cylinder 53, and a guide assembly 59 arranged on the clamping seat 51 and connected to the movable seat 52 and the buffer assembly 58. The product 6 is provided with a plurality of positioning holes 61, the rotating seat 54 is provided with a plurality of positioning columns 541 on the opposite surface of the product 6 and capable of being embedded in the opposite positioning holes 61, the positioning columns 541 are embedded in the opposite positioning holes 61 when the suction nozzles 55 adsorb the product 6, the position of the product 6 is limited, the product 6 is prevented from deviating, and the side surface of the product 6 is opposite to the reflecting surface of the first prism 21. Specifically, the rotating motor 56 is a hollow motor comprising a hollow lead screw 561. Further, the rotating shaft 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.

[0049] The negative pressure mechanism 57 comprises a negative pressure seat 571 arranged on the movable seat 52 and connected to the upper end of the hollow lead screw 561, a negative pressure cavity 572 formed in the negative pressure seat 571 and connected to the hollow lead screw 561, a rotary joint 573 arranged between the negative pressure seat 571 and the hollow lead screw 561, a slot-shaped photoelectric sensor 574 arranged on the movable seat 52 and located on one side of the rotary joint 573, and a detection block 575 arranged on the outer periphery of the rotary joint 573 and capable of cooperating with the slot-shaped photoelectric sensor 574. The lower end of the hollow lead screw 561 extends into the rotating seat 54 and is connected to the two suction nozzles 55. The slot-shaped photoelectric sensor 574 comprises a U-shaped slot 5741 opposite to the rotary joint 573, and the detection block 575 can be rotated into the U-shaped slot 5741. When working, the negative pressure seat 571 is connected to a negative pressure source, so that the suction nozzles 55 can adsorb and clamp the product 6.

[0050] The buffer assembly 58 comprises a buffer seat 581 connected to the front end of the moving cylinder 53, a buffer rod 582 movably arranged in the movable seat 52 and connected to the lower end of the buffer seat 581, and a buffer spring 583 sleeved on the outer periphery of the buffer rod 582 and connected to the buffer seat 581 and the movable seat at both ends. By limiting the structure of the buffer assembly 58, an upward buffer space is provided when the suction nozzles 55 adsorb the product 6, so as to prevent the product 6 from being crushed. The lower end of the buffer rod 582 is provided with a limiting block to prevent the buffer rod 582 from being separated from the movable seat 52.

[0051] 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 arranged on the clamping seat 51 along the moving direction of the moving seat 52, and two guide blocks 592 arranged on the guide rail 591 and connected with the buffer seat 581 and the moving seat 52 respectively. Through the cooperation of the guide blocks 592 and the guide rail 591, the moving seat 52 and the buffer seat 581 can stably move up and down. Embodiment 2

[0052] A method for quickly detecting the six-face appearance of a product, comprising the following steps:

[0053] Step 1, placing the product 6 on the detection workbench 11 of the detection station 1, and scanning and collecting the front appearance image of the product 6 on the detection workbench 11 by the first camera 12 above the detection workbench 11 matched with the first light source 13 arranged in the same axis;

[0054] Step 2, moving the suction nozzle clamping mechanism 5 above the detection workbench 11, and using the suction nozzle 55 to adsorb the front of the product 6 to clamp and move the product 6 to the detection station 2, and scanning and collecting the image feedback by the two first prisms 21 from the second camera 22 below the two first prisms 21 matched with the second light source 23 arranged in the same axis, wherein the reflecting surface of the first prism 21 is opposite to the side of the product 6 to be detected;

[0055] Step 3, moving the suction nozzle clamping mechanism 5 clamping the product 6 backward to the detection station 3, and scanning and collecting the back appearance image of the product 6 by the third camera 31 arranged vertically on the detection station 3 matched with the third light source 32 arranged in the same axis, wherein 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 when the product 6 moves to the detection station 3;

[0056] Step 4, moving the suction nozzle clamping mechanism 5 clamping the product 6 reversely to the detection station 2, and rotating the product 90° by the suction nozzle 55 during the reverse movement to the detection station 2, so that the two side faces not detected are opposite to the two first prisms 21 respectively during the movement, and scanning and collecting the image feedback by the two first prisms 21 by the second camera 22 below the first prism 21 matched with the second light source 23 arranged in the same axis;

[0057] Step 5, processing the image information feedback by the first camera 12, the second camera 22 and the third camera 31 by the graphic processing system to obtain the six-face appearance image information of the product.

[0058] The detection mode is suitable for a scene where the equipment occupies limited space. The suction nozzle clamping mechanism 5 is the same as the suction nozzle clamping mechanism in Embodiment 1, and will not be described further. The detection stations 1, 2 and 3 are arranged along the moving direction of the suction nozzle clamping mechanism 5.

[0059] The four detection stations or three detection stations are used to detect the six faces of the product. The detection station 1 detects the front face of the product 6, the detection station 2 detects four side faces of the product 6 or cooperates with the detection station 4 to detect the four side faces, and the detection station 3 detects the back face of the product. Each detection station is independently arranged and can be independently used, can provide space for a complex light source system, can improve the accuracy of 2D detection, can increase 3D detection, and can improve the detection capability of the optical system. The four side faces are detected by the flying shutter technology in cooperation with the first prism 21 and the second prism 41, the detection speed is fast, and the interval 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.

[0060] The above is only a preferred embodiment of the present application, and therefore cannot limit the scope of the present application. Equivalent changes and modifications made in accordance with the scope of the present application and the content of the specification should still be within the scope of the present application.

Claims

1. A method for rapidly detecting the six faces appearance of a product, characterized in that: The method comprises the following steps: Step 1, placing the product on the detection platform of the detection station 1, and scanning and collecting the front appearance image of the product on the detection platform by the first camera above the detection platform in cooperation with the first light source arranged in parallel; Step 2, moving the suction nozzle clamping mechanism above the detection platform, using the suction nozzle to adsorb the front of the product to clamp and move the product to the detection station 2, passing between the two oppositely arranged first prisms, and scanning and collecting the images fed back by the two first prisms by the second camera located below the two first prisms in cooperation with the second light source arranged in parallel, wherein the reflecting surface of the first prism is opposite to the side of the product to be detected; Step 3, moving the product clamped by the suction nozzle clamping mechanism to the detection station 3, scanning and collecting the back appearance image of the product by the third camera arranged vertically on the detection station 3 in cooperation with the third light source arranged in parallel, wherein the third camera is located directly below the product, and the third light source is located between the product and the third camera when the product moves to the detection station 3; Step 4, continuing to move the product clamped by the suction nozzle clamping mechanism to the detection station 4, passing between the two oppositely arranged second prisms, and rotating the product by 90° by the suction nozzle clamping mechanism during the moving process, so that the two sides not detected are opposite to the two second prisms respectively during the moving process, and scanning and collecting the images fed back by the two second prisms by the fourth camera located below the second prisms in cooperation with the fourth light source arranged in parallel, wherein the reflecting surface of the second prism is opposite to the side of the product to be detected; Step 5, processing the image information fed back by the first camera, the second camera, the third camera and the fourth camera by the graphic processing system to obtain the six-surface appearance image information of the product. The detection station 1, the detection station 2, the detection station 3 and the detection station 4 are arranged in sequence along the moving direction of the suction nozzle clamping mechanism, and the two first prisms and the two second prisms are arranged opposite to each other.

2. The method for rapidly detecting the six-face appearance of a product according to claim 1, characterized in that: The suction nozzle clamping mechanism comprises a clamping seat, a moving seat movably arranged on the clamping seat, a moving cylinder arranged on the clamping seat and connected to drive the moving seat to move, a rotating seat rotatably arranged on the moving seat, a suction nozzle arranged at the front end of the rotating seat and capable of adsorbing the product, a rotating motor arranged on the moving seat and connected to drive the rotating seat to rotate, and a negative pressure mechanism arranged on the moving seat and connected to the suction nozzle.

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

4. The method for rapidly detecting the six-faceted appearance of a product according to claim 3, characterized in that: The negative pressure mechanism further comprises a rotary joint arranged between the negative pressure seat and the hollow lead screw, a slot-shaped photoelectric sensor arranged on the moving seat and located on one side of the rotary joint, and a detection block arranged on the outer periphery of the rotary joint and capable of cooperating with the slot-shaped photoelectric sensor, wherein the slot-shaped photoelectric sensor comprises a U-shaped slot opposite to the rotary joint, and the detection block can be rotated into the U-shaped slot.

5. The method for quickly detecting the six-face appearance of a product according to claim 2, characterized in that: The product is provided with a plurality of positioning holes, the rotating seat is provided with a plurality of positioning columns on the opposite surface of the product, which can be embedded in the opposite positioning holes, when the suction nozzle adsorbs the product, the positioning columns are embedded in the opposite positioning holes, the position of the product is limited, and the side surface of the product is opposite to the reflection surface of the opposite first prism.

6. The method for quickly detecting the six-face appearance of a product according to claim 5, characterized in that: The suction nozzle clamping mechanism further comprises a buffer assembly arranged between the moving seat and the moving cylinder, the buffer assembly comprises a buffer seat connected with the front end of the moving cylinder, a buffer rod movably arranged in the moving seat and connected with the lower end of the buffer seat, and buffer springs sleeved on the outer periphery of the buffer rod and connected with the buffer seat and the moving seat at both ends.

7. The method for quickly detecting the six-face appearance of a product according to claim 6, characterized in that: The suction nozzle clamping mechanism further comprises a guide assembly arranged between the clamping seat and the buffer seat and the moving seat, the guide assembly comprises a guide rail arranged on the clamping seat in the moving direction of the moving seat and two guide blocks arranged on the guide rail and connected with the buffer seat and the moving seat respectively.

8. The method of claim 1, wherein: The midpoint of the reflection surface of the first prism is in the same horizontal plane as the midpoint of the side surface to be detected of the product, and the midpoint of the reflection surface of the second prism is in the same horizontal plane as the midpoint of the side surface to be detected of the product.

9. The method of claim 1, wherein: The two first prisms can move towards or away from each other, and the two second prisms can move towards or away from each other.

10. A method for rapidly detecting the six faces appearance of a product, characterized in that: The method comprises the following steps: Step 1, placing the product on the detection workbench of the detection station 1, scanning and collecting the front appearance image of the product on the detection workbench through the first camera above the detection workbench and the first light source arranged coaxially; Step 2, moving the suction nozzle clamping mechanism above the detection workbench, adsorbing the front surface of the product by the suction nozzle to clamp and move the product to the detection station 2, passing between the two first prisms arranged oppositely, and scanning and collecting the images fed back by the two first prisms by the second camera located below the two first prisms and the second light source arranged coaxially, wherein the reflection surface of the first prism is opposite to the side surface to be detected of the product; Step 3, moving the product clamped by the suction nozzle clamping mechanism to the detection station 3, scanning and collecting the back appearance image of the product by the third camera arranged vertically on the detection station 3 and the third light source arranged coaxially, when the product moves to the detection station 3, 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, reversely moving the product clamped by the suction nozzle clamping mechanism to the detection station 2, passing between the two first prisms arranged oppositely, and during the reverse movement to the detection station 2, the suction nozzle clamping mechanism simultaneously controls the suction nozzle to drive the product to rotate 90°, so that the two side surfaces not detected are opposite to the two first prisms respectively during the movement, and the images fed back by the two first prisms are scanned and collected by the second camera located below the first prism and the second light source arranged coaxially; Step 5, processing the image information fed back by the first camera, the second camera and the third camera by the graphic processing system to obtain the six appearance image information of the product.

Images