Paper holder AOI visual inspection device

Abstract

The utility model relates to the technical field of AO I automatic detection, in particular to a paper holder AO I visual detection device. Comprising a paper support conveying line used for conveying paper supports; the feeding mechanism is used for taking and placing the paper support conveyed from the previous station to the conveying starting end of the paper support conveying line, and the discharging mechanism is used for taking and placing the paper support at the conveying tail end of the paper support conveying line to the next station; the first visual inspection mechanism, the second visual inspection mechanism and the third visual inspection mechanism are arranged on the paper support conveying line; in the conveying process of the carrier chain conveying line, a plurality of groups of high-definition cameras are matched with a plurality of lighting modes, pictures of the surfaces of the paper trays are shot at multiple angles, defect pictures of the paper trays are presented, in addition, the shot pictures are subjected to image and character recognition operation through matched AO I visual software, bad defective products are distinguished and removed, and intelligent detection is achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of AOI automatic detection, in particular to an AOI visual detection device for a paper support. Background Art

[0002] AOI inspection, or automatic optical inspection, is a method of non-destructive product testing based on optical principles and machine vision technology. Common AOI inspection systems include light sources, lenses, cameras, image processing, and other components. The system analyzes image data to evaluate and judge products, thereby achieving automatic product inspection.

[0003] In existing technology, the appearance inspection of paper and plastic products relies on manual visual inspection, which requires high vision and causes visual fatigue over long periods of time. This increases the workload for employees, and the instability of visual inspection personnel leads to inconsistent product quality. This leads to a high rate of missed inspections and false positives, coupled with an increasingly challenging labor market. This leads to drawbacks in manpower and efficiency, and continuously rising manufacturing costs. A paper tray AOI visual inspection device is proposed to address these existing issues. Utility Model Content

[0004] The purpose of the utility model is to provide a paper tray AOI visual inspection device to solve the problems in the prior art of manual visual inspection of paper and plastic product appearance, which leads to a high proportion of missed inspections and false inspections.

[0005] The technical solution of the utility model is: a paper support AOI visual inspection device, comprising: a paper support conveying line for conveying paper supports;

[0006] The loading mechanism takes the paper tray delivered from the previous station and places it at the starting end of the paper tray conveyor line.

[0007] The unloading mechanism takes the paper tray at the end of the paper tray conveyor line and places it to the next station;

[0008] A first visual inspection mechanism, a second visual inspection mechanism, and a third visual inspection mechanism are provided on the paper support conveying line;

[0009] The first visual inspection mechanism includes a first camera located directly above the first inspection area, a combined bar light source surrounding the first inspection area and illuminating the first inspection area, and a backlight source located directly below the first inspection area;

[0010] The second visual inspection mechanism includes a second camera located directly above the second inspection area, a surface light source mounted on the second camera, and an offset camera located on the opposite side of the second inspection area, wherein the angle between the line of sight of the offset camera and the horizontal plane is 35°-55°;

[0011] The third visual detection mechanism includes a fisheye camera located directly above the third detection area, a ring-shaped light source arranged around the lens of the fisheye camera, a third camera and a laser module arranged at an angle on the opposite side of the fourth detection area, and the line of sight of the lens of the third camera is perpendicular to the laser emitted by the laser module.

[0012] Preferably, the paper support conveyor line is a carrier chain conveyor line, which includes four gears, a pair of chains mounted on the four gears, and a plurality of detection carriers fixedly installed between the pair of chains at equal intervals along the conveying direction of the chains.

[0013] Preferably, each of the detection carriers is provided with two carrier parts with identical structures along its length direction, namely a first carrier part and a second carrier part; a paper holder can be placed on each of the first carrier part and the second carrier part.

[0014] Preferably, the number of the first cameras is four, and the four first cameras are arranged in two rows, and the four first cameras are respectively located directly above the four paper holders on adjacent detection carriers; the combined strip light source includes four strip lights, and the four strip lights are arranged in length and width directions parallel to the carrier chain conveyor line, and the four strip lights are located in height between the four first cameras and the carrier chain conveyor line; the lighting angle of the four strip lights is adjustable and the light of the four strip lights is illuminated on the four paper holders on adjacent detection carriers.

[0015] Preferably, the number of the second cameras is two, the surface light source is a rectangular lamp and the number is two, each second camera is vertically arranged at the center of a rectangular lamp; four offset cameras are arranged under each second camera; one second camera is located directly above the paper support on the first carrier part, and the other second camera is located directly above the paper support on the second carrier part.

[0016] Preferably, the number of the fisheye cameras is four, the annular light source is a ring light and the number is four, each fisheye camera is vertically arranged at the center of a ring light; the paper support includes a first rectangular groove portion and a second rectangular groove portion with symmetrical structures, and the four fisheye cameras are respectively located directly above the first rectangular groove portion of the paper support placed on the first carrier portion, the second rectangular groove portion of the paper support placed on the first carrier portion, the first rectangular groove portion of the paper support placed on the second carrier portion, and the second rectangular groove portion of the paper support placed on the second carrier portion.

[0017] Preferably, the number of the third cameras is two, the laser module is a laser emitter, and the laser emitted by the laser emitter is a line segment, which is irradiated on the second rectangular groove portion of the paper support placed on the first carrier plate and the first rectangular groove portion of the paper support placed on the second carrier plate.

[0018] Preferably, the loading mechanism includes a loading robot and a loading suction cup assembly arranged at the end of the loading robot, and the loading suction cup assembly includes a loading lifting cylinder, a loading suction cup bracket located on the piston rod of the loading lifting cylinder, and a loading suction nozzle located on the loading suction cup bracket.

[0019] Preferably, the unloading mechanism includes a unloading robot and a unloading suction cup assembly arranged at the end of the unloading robot, and the unloading suction cup assembly includes a unloading suction cup bracket and a unloading suction nozzle located on the unloading suction cup bracket.

[0020] Preferably, the next workstation of the carrier chain conveyor line is a qualified product channel and a non-qualified product channel arranged in parallel.

[0021] Compared with the prior art, the advantages of the present invention are:

[0022] The utility model provides a paper support AOI visual inspection device, comprising: a paper support conveyor line, a loading mechanism, a first visual inspection mechanism, a second visual inspection mechanism, a third visual inspection mechanism, and a unloading mechanism arranged on the paper support conveyor line; during the conveying process of the carrier chain conveyor line, multiple groups of high-definition cameras are used in conjunction with multiple lighting methods to take pictures of the paper support surface from multiple angles, presenting defective pictures of the paper support; in addition, the accompanying AOI visual software is used to perform image and text recognition operations on the taken pictures, distinguish and eliminate defective products, and achieve intelligent detection; intelligent detection replaces the manual visual inspection of the existing technology, has stable performance, and can better analyze and detect the quality of products.

[0023] In the utility model, the carrier chain conveyor line includes four gears, a pair of chains mounted on the four gears, and a plurality of detection carriers fixedly installed between the pair of chains at equal intervals along the conveying direction of the chains. In conjunction with the loading robot and the unloading robot, the paper tray can be efficiently and accurately picked up and placed. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The present invention will be further described below with reference to the accompanying drawings and embodiments:

[0025] Figure 1 This is a schematic structural diagram of a paper support in a paper support AOI visual inspection device according to this embodiment;

[0026] Figure 2 This is a schematic structural diagram of a paper support AOI visual inspection device according to this embodiment;

[0027] Figure 3 This is a schematic structural diagram of the loading mechanism and docking carrier described in this embodiment;

[0028] Figure 4 Schematic diagram of the structure of the feeding mechanism of this embodiment;

[0029] Figure 5 This is a schematic structural diagram of the paper support conveying line described in this embodiment;

[0030] Figure 6 This is a schematic structural diagram of the first visual detection mechanism of this embodiment;

[0031] Figure 7 Schematic diagram of the structure of the second visual detection mechanism in this embodiment;

[0032] Figure 8 Schematic diagram of the structure of the third visual detection mechanism of this embodiment;

[0033] Figure 9 This is a front view of the first visual detection mechanism, the second visual detection mechanism, and the third visual detection mechanism of this embodiment;

[0034] Figure 10 A top view of the first visual detection mechanism, the second visual detection mechanism, and the third visual detection mechanism of this embodiment;

[0035] Figure 11 This is a schematic diagram of the working principle of the third camera and laser transmitter described in this embodiment;

[0036] Figure 12 This is a schematic diagram of the coordination between the unloading mechanism and the qualified product channel and the qualified product channel described in this embodiment.

[0037] Among them: 10. Loading mechanism, 11. Loading manipulator, 12. Loading lifting cylinder, 13. Loading suction cup bracket, 14. Loading nozzle;

[0038] 20. Paper support conveyor line, 21. Gear, 22. Chain, 23. Detection carrier, 24. First carrier part, 25. Second carrier part;

[0039] 30. First visual inspection mechanism, 31. First camera, 32. Strip light;

[0040] 40. Second visual inspection mechanism, 41. Second camera, 42. Rectangular light, 43. Offset camera;

[0041] 50. Third visual detection mechanism, 51. Fisheye camera, 52. Ring light source, 53. Third camera, 54. Laser transmitter;

[0042] 60. Unloading mechanism, 61. Unloading manipulator, 62. Unloading suction cup bracket, 63. Unloading nozzle;

[0043] 70. Docking carrier, 71. Paper holder, 72. First rectangular groove portion, 73. Second rectangular groove portion, 74. Qualified product channel, 75. Qualified product channel. DETAILED DESCRIPTION

[0044] The following is a further detailed description of the present invention in conjunction with specific embodiments:

[0045] In the description of the utility model, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like to indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on the utility model.

[0046] like Figure 1 、 Figure 2 As shown, a paper support AOI visual inspection device, the paper support 71 includes a first rectangular groove portion 72 and a second rectangular groove portion 73 with symmetrical structures, including: a paper support conveyor line 20, for conveying the paper support 71; a loading mechanism 10, which takes and places the paper support 71 conveyed from the previous workstation to the conveying starting end of the paper support conveyor line 20, and a unloading mechanism 60, which takes and places the paper support 71 at the conveying end on the paper support conveyor line 20 to the next workstation; a first visual inspection mechanism 30, a second visual inspection mechanism 40, and a third visual inspection mechanism 50 arranged on the paper support conveyor line 20.

[0047] like Figure 3 、 Figure 4 As shown, the loading mechanism 10 includes a loading robot 11 and a suction cup assembly mounted at the end of the loading robot 11. The suction cup assembly includes a loading lift cylinder 12, a suction cup bracket 13 mounted on the piston rod of the loading lift cylinder 12, and a loading nozzle 14 mounted on the suction cup bracket 13. The loading nozzle 14 is connected to a vacuum generator. The suction cup bracket in the loading mechanism 10 is equipped with five rows of mounting rods, each row of which is equipped with four suction nozzles. The loading robot 11 can grab ten paper trays 71 at a time.

[0048] like Figure 5As shown, the paper holder conveyor line 20 is a carrier chain conveyor line, which includes four gears 21, a pair of chains 22 mounted on the four gears 21, and a plurality of detection carriers 23 fixedly mounted between the pair of chains 22 at equal intervals along the conveying direction of the chains 22; the utility model does not use a belt conveyor line but a carrier chain conveyor line. Considering that the line body is longer, the carrier chain conveyor line has better conveying accuracy. At the same time, since it is necessary to cooperate with the loading robot 11 and the unloading robot 61 to pick up and place the paper holder 71, a detection carrier 23 is installed on the carrier chain conveyor line. Without the need for a paper holder 71 positioning device, the robot can efficiently and accurately pick up and place the paper holder 71. Each detection carrier 23 is provided with two carrier parts with the same structure along its length direction, namely the first carrier part 24 and the second carrier part 25; a paper holder 71 can be placed on each of the first carrier part 24 and the second carrier part 25.

[0049] like Figure 6 、 Figure 9 、 Figure 10 As shown, the first visual inspection mechanism 30 includes a first camera 31 located directly above the first inspection area, a combined strip light source surrounding the first inspection area and illuminating the first inspection area, and a backlight source (not shown in the figure) located directly below the first inspection area; there are four first cameras 31, and the four first cameras 31 are arranged in two rows. The four first cameras 31 are respectively located directly above the four paper holders 71 on adjacent inspection carriers 23. It should be noted that the four first cameras 31 are arranged in two rows, and each paper holder 71 is photographed twice by two first cameras 31 when passing through the first inspection area, so as to distinguish different defects; the combined strip light source includes four strip lights 32, and the four strip lights 32 are arranged along the length and width directions parallel to the carrier chain conveyor line. The four strip lights 32 are located between the four first cameras 31 and the carrier chain conveyor line in the height direction; the illumination angle of the four strip lights 32 is adjustable (the angle adjustment is achieved by hinged installation of the strip lights 32) and the light of the four strip lights is on the four paper holders 71 on the adjacent inspection carriers 23. The first visual inspection mechanism 30 uses a line scan camera in conjunction with a high-brightness light source for imaging, ensuring high-definition imaging effects in one scan. The first visual inspection mechanism 30 detects surface defects on the paper support 71, including: dark spots, cracks, watermarks, uneven runways, rough R corners, hair, screen printing, light transmittance, and indentations.

[0050] like Figure 7 、 Figure 9 、 Figure 10As shown, the second visual detection mechanism 40 includes a second camera 41 located directly above the second detection area, a surface light source mounted on the second camera 41, and an offset camera 43 located on the opposite side of the second detection area. The angle between the lens line of sight of the offset camera 43 and the horizontal plane is 35°-55°, preferably 45°. The angle between the lens line of sight of the offset camera 43 and the horizontal plane is adjustable, so as to take clear pictures of the paper support 71. There are two second cameras 41, and the surface light source is a rectangular lamp 42. Each second camera 41 is vertically arranged at the center of a rectangular lamp 42. Four offset cameras 43 are arranged below each second camera 41. One second camera 41 is located directly above the paper support 71 on the first carrier part 24, and the other second camera 41 is located directly above the paper support 71 on the second carrier part 25. That is, the second visual inspection mechanism 40 is provided with two second inspection areas, which respectively inspect the paper support 71 on the first carrier part 24 and the paper support 71 on the second carrier part 25 on the inspection carrier 23; the second visual inspection mechanism 40 inspects the surface defects of the paper support 71, including: different color spots, bulges, pressed blocks, dirt, and black spots.

[0051] like Figure 8 、 Figure 9 、 Figure 10 As shown, the third visual inspection mechanism 50 includes a fisheye camera 51 located directly above the third inspection area, a ring light source 52 arranged around the lens of the fisheye camera 51, a third camera 53 located at an angle on the opposite side of the fourth inspection area, and a laser module. The lens line of sight of the third camera 53 is perpendicular to the laser emitted by the laser module. A fisheye camera is a camera with a fisheye lens, which is a lens with an extremely short focal length and a viewing angle close to or equal to 180°. There are four fisheye cameras 51, and four ring light sources 52 are ring lights. Each fisheye camera 51 is vertically positioned at the center of a ring light. The four fisheye cameras 51 are respectively located directly above the first rectangular groove 72 of the paper holder 71 placed on the first carrier 24, the second rectangular groove 73 of the paper holder 71 placed on the first carrier 24, the first rectangular groove 72 of the paper holder 71 placed on the second carrier 25, and the second rectangular groove 73 of the paper holder 71 placed on the second carrier 25. The number of the third cameras 53 is two, and the laser module is a laser emitter 54. The laser emitted by the laser emitter 54 is a line segment, which is irradiated on the second rectangular groove portion 73 of the paper holder 71 placed on the first carrier plate and the first rectangular groove portion 72 of the paper holder 71 placed on the second carrier plate. The cooperation of the third camera 53 and the laser module is used to detect whether there is mixed money. Specifically, Figure 11 As shown, the third camera 53 detects the height difference between the laser at points A and B, and the height difference between the laser at points C and D. The third visual inspection mechanism 50 detects the inner cavity defects of each paper holder 71, including: convex and concave, wrinkles, screen printing, slurry hanging, watermarks, and dark spots.

[0052] It should be noted that the arrangement positions of the first visual inspection mechanism 30, the second visual inspection mechanism 40, and the third visual inspection mechanism 50 on the carrier chain conveyor line are not limited and can be randomly arranged. For example, it can be that in the present embodiment, the first visual inspection mechanism 30, the second visual inspection mechanism 40, and the third visual inspection mechanism 50 are arranged in sequence along the conveying line direction of the carrier chain conveyor line; it can also be that the second visual inspection mechanism 40, the first visual inspection mechanism 30, and the third visual inspection mechanism 50 are arranged in sequence along the conveying line direction of the carrier chain conveyor line; it can also be that the second visual inspection mechanism 40, the third visual inspection mechanism 50, and the first visual inspection mechanism 30 are arranged in sequence along the conveying line direction of the carrier chain conveyor line; or it can be other arrangements.

[0053] like Figure 12 As shown, the unloading mechanism 60 includes an unloading manipulator 61, a suction cup assembly mounted at the end of the unloading manipulator 61, a suction cup bracket 62, and a suction nozzle 63 mounted on the bracket. The suction nozzle 63 is connected to a vacuum generator. The suction cup bracket in the unloading mechanism 60 is equipped with five rows of mounting rods, each row of which is equipped with four suction nozzles. The unloading manipulator 61 can grab ten paper trays 71 at a time.

[0054] like Figure 12 As shown, the next station of the carrier chain conveyor line is the parallel arrangement of the qualified product channel 74 and the unqualified product channel 75. After passing the inspection of the three visual inspection mechanisms, when the unloading robot 61 of the unloading mechanism 60 sucks the paper tray 71 on the carrier chain conveyor line and moves it above the qualified product channel 74, the controller controls the suction nozzle holding the qualified paper tray 71 to release, and the qualified paper tray 71 falls on the qualified product channel 74; then the unloading robot 61 moves to the above the unqualified product channel 75, and the controller controls the suction nozzle holding the unqualified paper tray 71 to release, and the unqualified paper tray 71 falls on the unqualified product channel 75. Subsequently, the paper trays 71 in the qualified product channel 74 and the unqualified product channel 75 are each transported to other stations.

[0055] After the punching machine completes punching the paper holder 71, the paper holder 71 is transported to the front of the feeding mechanism 10 through the docking carrier 70. At this time, the conveying direction of the docking carrier 70 is perpendicular to the conveying direction of the carrier chain conveyor line. The working principle of the paper holder 71 AOI visual inspection device in this embodiment is as follows: the carrier chain conveyor line continuously feeds materials, the feeding manipulator 11 of the feeding mechanism 10 moves to the top of the docking carrier 70, the piston rod of the feeding lifting cylinder 12 extends, drives the feeding suction cup bracket 13 to descend, and then drives the feeding nozzle 14 to descend, and the receiving The ten paper holders 71 on the carrier 70 are sucked, the piston rod of the loading lifting cylinder 12 is retracted, and the loading robot 11 drives the loading nozzle 14 to rise, and then the loading robot 11 drives the loading suction cup bracket 13 to rotate 90 degrees, so that the position of the paper holder 71 on the loading bracket coincides with the detection fixture on the carrier chain conveyor line. When the sensor detects that there are five empty detection fixtures on the carrier chain conveyor line, the loading robot 11 places the 10 paper holders 71 on the loading nozzle 14 on the detection mold of the carrier chain conveyor line; then the loading robot 11 resets and reverses Rotate 90 degrees, grab the paper holder 71 on the docking carrier 70, and then wait for the empty inspection jig on the carrier chain conveyor line; the paper holder 71 is conveyed on the carrier chain conveyor line, and passes through the first visual inspection mechanism 30, the second visual inspection mechanism 40, and the third visual inspection mechanism 50 to inspect the paper holder 71 for flaws and defects; when unloading, when the sensor detects that there are five inspection jigs equipped with paper holders 71 at the conveying end of the carrier chain conveyor line, the unloading robot 61 drives the unloading nozzle 63 to move to the five inspection jigs equipped with paper holders 71 at the conveying end. Directly above the testing jig, the ten paper holders 71 of the five testing jigs at the conveying end are sucked by the unloading suction nozzle 63, and then the unloading robot 61 moves the ten paper holders 71 to above the qualified product channel 74, and the controller controls the suction nozzle that sucks the qualified paper holders 71 to release, and the qualified paper holders 71 fall on the qualified product channel 74; then the unloading robot 61 drives the remaining paper holders 71 to move above the unqualified product channel 75, and the controller controls the suction nozzle that sucks the unqualified paper holders 71 to release, and the unqualified paper holders 71 fall on the unqualified product channel 75; and the process works reciprocatingly.

[0056] The above embodiments 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 accordingly, and they are not intended to limit the scope of protection of the present invention. For those skilled in the art, it is obvious that the present invention is not limited to the details of the above exemplary embodiments, and that the present invention can be implemented in other specific forms without departing from the spirit or basic characteristics of the present invention. Therefore, no matter from which point of view, the embodiments should be regarded as exemplary and non-restrictive. The scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes that fall within the meaning and scope of the equivalent elements of the claims are included in the present invention.

Claims

1. A paper support AOI visual inspection device, characterized in that: include: Paper tray conveyor line, used to convey paper trays; The loading mechanism takes the paper tray delivered from the previous station and places it at the starting end of the paper tray conveyor line. The unloading mechanism takes the paper tray at the end of the paper tray conveyor line and places it to the next station; A first visual inspection mechanism, a second visual inspection mechanism, and a third visual inspection mechanism are provided on the paper support conveying line; The first visual inspection mechanism includes a first camera located directly above the first inspection area, a combined bar light source surrounding the first inspection area and illuminating the first inspection area, and a backlight source located directly below the first inspection area; The second visual inspection mechanism includes a second camera located directly above the second inspection area, a surface light source mounted on the second camera, and an offset camera located on the opposite side of the second inspection area, wherein the angle between the line of sight of the offset camera and the horizontal plane is 35°-55°; The third visual detection mechanism includes a fisheye camera located directly above the third detection area, a ring-shaped light source arranged around the lens of the fisheye camera, a third camera and a laser module arranged at an angle on the opposite side of the fourth detection area, and the line of sight of the lens of the third camera is perpendicular to the laser emitted by the laser module.

2. The paper support AOI visual inspection device according to claim 1, characterized in that: The paper support conveyor line is a carrier chain conveyor line, which includes four gears, a pair of chains mounted on the four gears, and a plurality of detection carriers fixedly installed between the pair of chains at equal intervals along the conveying direction of the chains.

3. The paper support AOI visual inspection device according to claim 2, characterized in that: Each of the detection carriers is provided with two carrier parts with the same structure along its length direction, namely a first carrier part and a second carrier part; a paper holder can be placed on each of the first carrier part and the second carrier part.

4. The paper support AOI visual inspection device according to claim 3, characterized in that: The number of the first cameras is four, and the four first cameras are arranged in two rows. The four first cameras are respectively located directly above the four paper holders on adjacent inspection carriers; the combined strip light source includes four strip lights, and the four strip lights are arranged in the length and width directions parallel to the carrier chain conveyor line, and the four strip lights are located in the height direction between the four first cameras and the carrier chain conveyor line; the lighting angle of the four strip lights is adjustable and the light of the four strip lights is illuminated on the four paper holders on adjacent inspection carriers.

5. The paper support AOI visual inspection device according to claim 4, characterized in that: There are two second cameras, the surface light source is a rectangular lamp and there are two of them, each second camera is vertically arranged at the center of a rectangular lamp; four offset cameras are arranged under each second camera; one second camera is located directly above the paper support on the first carrier part, and the other second camera is located directly above the paper support on the second carrier part.

6. The paper support AOI visual inspection device according to claim 3, characterized in that: The number of the fisheye cameras is four, the annular light source is a ring lamp and the number is four, each fisheye camera is vertically arranged at the center of a ring lamp; the paper support includes a first rectangular groove portion and a second rectangular groove portion with symmetrical structures, and the four fisheye cameras are respectively located directly above the first rectangular groove portion of the paper support placed on the first carrier portion, the second rectangular groove portion of the paper support placed on the first carrier portion, the first rectangular groove portion of the paper support placed on the second carrier portion, and the second rectangular groove portion of the paper support placed on the second carrier portion.

7. The paper support AOI visual inspection device according to claim 6, characterized in that: The number of the third cameras is two, the laser module is a laser emitter, and the laser emitted by the laser emitter is a line segment, which is irradiated on the second rectangular groove portion of the paper support placed on the first carrier plate and the first rectangular groove portion of the paper support placed on the second carrier plate.

8. The paper support AOI visual inspection device according to claim 1, characterized in that: The loading mechanism includes a loading robot and a loading suction cup assembly arranged at the end of the loading robot. The loading suction cup assembly includes a loading lifting cylinder, a loading suction cup bracket located on the piston rod of the loading lifting cylinder, and a loading suction nozzle located on the loading suction cup bracket.

9. The paper support AOI visual inspection device according to claim 2, characterized in that: The blanking mechanism includes a blanking robot and a blanking suction cup assembly arranged at the end of the blanking robot. The blanking suction cup assembly includes a blanking suction cup bracket and a blanking suction nozzle located on the blanking suction cup bracket.

10. The paper support AOI visual inspection device according to claim 2, characterized in that: The next workstation of the carrier chain conveyor line is a qualified product channel and a non-qualified product channel arranged in parallel.

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