CN216846131U - Square shell detection equipment - Google Patents

Abstract

The utility model relates to a square shell detection device. Wherein, square shell check out test set includes: the camera assembly comprises a camera guide rail and a camera arranged on the camera guide rail in a sliding mode, a first station and a second station are arranged on the camera guide rail, and the camera can move between the first station and the second station; the first detection mechanism is used for grabbing materials and adjusting the positions of the materials so that the camera can detect at least one surface of the materials on the first station; the second detection mechanism is used for grabbing the materials detected by the first detection mechanism, and adjusting the positions of the materials, so that the camera is arranged on the second station to sequentially detect the rest surfaces of the materials. Foretell square shell check out test set can realize the outward appearance of automated inspection material, is favorable to reducing artifical working strength, improves production efficiency.

Description

Square shell detection equipment

Technical Field

The utility model relates to the technical field of appearance detection of lithium batteries, in particular to a square shell detection device.

Background

In the production process of the lithium battery, an important detection index for detecting whether the battery is qualified or not is used in appearance detection. Many surface defects of the lithium battery are directly related to structural defects inside and outside the battery, the defects can directly cause the safety problem and the reliability problem of the battery, and most important potential safety hazards can be effectively eliminated through surface detection, so that the detection of the surface defects is very important.

Under the background of carbon neutralization, new energy lithium batteries are further developed, the production quantity is very large, but at present, the appearance of the coated lithium batteries still needs to be detected by naked eyes manually so as to eliminate the defects of battery bulge, scratches and the like. But the mode of manual and visual detection seriously restricts the reliability, high efficiency and traceability of production; in addition, the manual detection standards are different, and the situations that the battery is damaged or even people are injured due to manual contact of the battery exist. Therefore, the level of automation and mechanization of battery appearance detection needs to be improved, so that automatic detection of battery appearance is realized, the manual work intensity is reduced, and the production efficiency is improved.

SUMMERY OF THE UTILITY MODEL

Accordingly, the present invention is directed to an appearance inspection apparatus capable of automatically inspecting the appearance of a material.

A square shell inspection apparatus, comprising: the camera assembly comprises a camera guide rail and a camera arranged on the camera guide rail in a sliding mode, a first station and a second station are arranged on the camera guide rail, and the camera can move between the first station and the second station; the first detection mechanism is used for grabbing materials and adjusting the positions of the materials so that the camera can detect at least one surface of the materials on the first station; the second detection mechanism is used for grabbing the materials detected by the first detection mechanism, and adjusting the positions of the materials, so that the camera is arranged on the second station to sequentially detect the rest surfaces of the materials.

According to the square shell detection equipment, when the first detection mechanism grabs the material and adjusts the material to be aligned with the first station, the camera located on the first station can detect the material. Simultaneously, first detection mechanism can also adjust the position of material to make the camera can detect at least one face of material in proper order on first station. The second detection mechanism grabs the materials which are detected on the first detection mechanism to the position corresponding to the second station, and the camera moves to the second station on the camera guide rail and detects other surfaces of the materials. In addition, the position of material also can be adjusted to the second detects the station to make the camera can detect the rest face of material in proper order on the second station, thereby realize the outward appearance of automated inspection material, be favorable to reducing artifical working strength, improve production efficiency.

In one embodiment, the first detection mechanism includes a first grasping element, a first rotating assembly and a second rotating assembly, the first grasping element is connected to an output shaft of the second rotating assembly, the second rotating assembly is connected to an output shaft of the first rotating assembly, the first grasping element is used for grasping the material to be detected, the first rotating assembly drives the second rotating assembly to rotate on a first plane, the second rotating assembly drives the first grasping element to rotate on a second plane, and the first plane is perpendicular to the second plane.

In one embodiment, the first grabbing piece is used for grabbing a first large face, a first side face and a second side face of the material, wherein the first side face and the second side face are opposite faces of the material, and the first large face is located between the first side face and the second side face.

In one embodiment, the first detecting mechanism further includes a first detecting guide rail and a second detecting guide rail, the first rotating assembly is slidably disposed on the second detecting guide rail and can move on the second detecting guide rail in a vertical direction, and the second detecting guide rail moves on the first detecting guide rail in a horizontal direction.

In one embodiment, the first detection mechanism further comprises a horizontally arranged third detection guide rail, the second detection guide rail is connected to the third detection guide rail, and the second detection guide rail can move on the third detection guide rail to approach or move away from the second detection mechanism.

In one embodiment, the second detection mechanism includes a second grasping element, a third rotating assembly and a fourth rotating assembly, the second grasping element is connected to an output shaft of the fourth rotating assembly, the fourth rotating assembly is connected to an output shaft of the third rotating assembly, the second grasping element is used for grasping the material which is detected by the first detection mechanism, the third rotating assembly drives the fourth rotating assembly to rotate on a third plane, the fourth rotating assembly drives the second grasping element to rotate on a fourth plane, and the fourth plane is perpendicular to the third plane.

In one embodiment, the second detection mechanism further includes a fourth detection guide rail and a fifth detection guide rail, the fourth rotating assembly is disposed on the fifth detection guide rail and can move on the fifth detection guide rail in the vertical direction, and the fifth detection guide rail moves on the fourth detection guide rail in the horizontal direction.

In one embodiment, the second detection mechanism further includes a sixth detection rail horizontally disposed, the fifth detection rail is connected to the sixth detection rail, and the fifth detection rail can move on the sixth detection rail to approach or depart from the first detection mechanism.

In one embodiment, the square casing detection device further comprises a base platform, and the camera assembly, the first detection mechanism and the second detection mechanism are all arranged on the base platform.

In one of them embodiment, square shell check out test set still includes positioning mechanism and fortune material mechanism, positioning mechanism is equipped with material loading level and material unloading level, fortune material mechanism is used for transporting undetected material extremely the material loading level, first detection mechanism follows the material on the material loading level, the material loading level with first station is counterpointed and is set up, second detection mechanism will the material that accomplishes the detection on the second detection mechanism is put extremely the material unloading level, fortune material mechanism will be located the material fortune of material unloading level is from, the material unloading level with the setting is counterpointed to the second station.

Drawings

Fig. 1 is a schematic overall structure diagram of a square shell detection device in one embodiment;

FIG. 2 is a top view of the overall structure of the square shell inspection apparatus according to one embodiment;

FIG. 3 is a schematic diagram of an embodiment of a camera assembly;

FIG. 4 is a schematic diagram of an overall structure of a first detection mechanism according to an embodiment;

FIG. 5 is a top view of the overall structure of the first sensing mechanism in one embodiment;

FIG. 6 is an overall structural front view of a second detection mechanism according to an embodiment;

FIG. 7 is a top view of the overall structure of a second sensing mechanism according to one embodiment;

fig. 8 is a schematic view of the overall structure of the positioning mechanism and the material conveying mechanism in one embodiment.

Description of reference numerals:

10. square shell detection equipment; 100. a camera assembly; 110. a camera; 120. a camera rail; 121. a first station; 122. a second station; 200. a first detection mechanism; 210. a first rotating assembly; 220. a second rotating assembly; 230. a first grasping member; 240. a first detection rail; 250. a second detection rail; 300. A second detection mechanism; 310. a third rotating assembly; 320. a fourth rotating assembly; 330. a second grasping member; 340. a fourth detection rail; 350. a fifth detection guide rail; 400. a base station; 500. a positioning mechanism; 510. Loading the material; 520. feeding; 600. a material conveying mechanism; 610. feeding and clamping; 620. blanking and clamping; 630. fortune material removes structure.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein.

In one embodiment, referring to fig. 1 and 2, a square shell detection device 10, the square shell detection device 10 includes: a camera assembly 100, a first detection mechanism 200, and a second detection mechanism 300. The camera assembly 100 includes a camera rail 120, and a camera 110 slidably disposed on the camera rail 120. The camera guide 120 is provided with a first station 121 and a second station 122. The camera 110 is movable between a first station 121 and a second station 122. The first detection mechanism 200 is used to grasp the material and adjust the position of the material so that the camera 110 detects at least one side of the material at the first station 121. The second detecting mechanism 300 is used for grabbing the material which is detected by the first detecting mechanism 200, and adjusting the position of the material, so that the camera 110 sequentially detects the rest of the material on the second station 122.

In the square shell detection equipment 10, when the first detection mechanism 200 captures the material and adjusts the material to be aligned with the first station 121, the camera 110 located on the first station 121 can detect the material, and meanwhile, the first detection mechanism 200 can adjust the position of the material, so that the camera 110 can sequentially detect at least one surface of the material on the first station 121; the second detection mechanism 300 grabs the material which has been detected by the first detection mechanism 200 to a position corresponding to the second station 122, and the camera 110 moves to the second station 122 on the camera guide rail 120 and detects the other side of the material. In addition, the position of material also can be adjusted to the second detects the station to make camera 110 can detect the remaining face of material in proper order on second station 122, thereby realize the outward appearance of automated inspection material, be favorable to reducing artifical working strength, improve production efficiency.

It should be noted that the material may be an object having multiple faces.

It is understood that the camera 110 is capable of detecting one, two or more surfaces of the material in cooperation with the first detection mechanism 200 when the camera is located at the first station 121. Similarly, when the camera 110 is located at the second station 122, it can cooperate with the second detection mechanism 300 to detect the rest of the material. Wherein the remainder are to be understood as: taking the example that the material has six surfaces to be detected as an example, if the first detection mechanism 200 finishes detecting one surface, the second detection mechanism 300 needs to finish the remaining five surfaces; if the first detection mechanism 200 detects two planes, the second detection mechanism 300 needs to detect the remaining four planes, and so on.

Specifically, in this embodiment, the material is a rectangular battery, and when the camera 110 is located at the first station 121, the camera 110 cooperates with the first detection mechanism 200 to detect three surfaces of the material; when the camera 110 is located at the second station 122, the camera 110 cooperates with the second detecting mechanism 300 to detect the remaining three surfaces of the material.

It should be noted that the camera 110 may be any device capable of detecting the photographed image. Such as: the camera 110 may be a line scan camera. When the camera 110 detects the material, the camera 110 reciprocates along the camera guide 120 within the range of the first station 121 (or the second station 122) to scan the material.

In one embodiment, referring to fig. 2, 3 and 4, the first detecting mechanism 200 includes a first grabbing member 230, a first rotating member 210 and a second rotating member 220. The first grasping member 230 is connected to the output shaft of the second rotating assembly 220. The second rotating member 220 is connected to an output shaft of the first rotating member 210. The first grasping member 230 is used to grasp the material to be detected. The first rotating element 210 rotates the second rotating element 220 on the first plane. The second rotating assembly 220 rotates the first grasping member 230 on the second plane. The first plane is perpendicular to the second plane. The first plane is perpendicular to the horizontal plane.

Therefore, after the first grabbing member 230 grabs the material, the first rotating assembly 210 can drive the material to rotate on the first plane, and the second rotating assembly 220 can drive the material to rotate on the second plane, so as to adjust the position of the material, so as to cooperate with the camera 110 located at the first station 121 to detect the surface of the material.

In one embodiment, referring to fig. 2, the first grasping element 230 is used for grasping a first large surface (not shown), a first side surface (not shown) and a second side surface (not shown) of a material. Wherein, the first side face and the second side face are two opposite faces of the material. The first large face is located between the first side face and the second side face.

It can be seen that the first grasping element 230 grasps three sides of the material: the first large face, the first side face and the second side face cooperate with the camera 110 to detect the other three faces of the material.

Further, the material further comprises a second large surface (not shown), a first top surface (not shown) and a second top surface (not shown). The second large surface and the first large surface are two opposite surfaces of the material, and the first top surface and the second top surface are two opposite surfaces of the material. The first large surface, the second large surface, the first side surface, the second side surface, the first top surface and the second top surface are respectively six surfaces of a material (a square battery).

Therefore, when the first grasping member 230 grasps the first large surface, the first side surface and the second side surface of the material, the camera 110 at the first station 121 can cooperate with the first detecting mechanism 200 to detect the second large surface, the first top surface and the second top surface of the material in sequence.

In one embodiment, referring to fig. 4 and 5, the first detection mechanism 200 further comprises a first detection rail 240 and a second detection rail 250. The first rotating assembly 210 is slidably disposed on the second detecting guide 250. The first rotating assembly 210 can move in a vertical direction on the second detection rail 250. The second detection rail 250 moves in the horizontal direction on the first detection rail 240.

Therefore, the first detection mechanism 200 can adjust the position of the first grabbing member 230 in the vertical direction and the horizontal direction, so as to adjust the grabbed material by the first grabbing member 230 to the preset photographing position corresponding to the first station 121.

The direction of the interval arrangement between the first station 121 and the second station 122 is perpendicular to the extending direction of the first detection guide 240, so that the first grabbing member 230 can be driven by the second detection guide 250 to approach or depart from the first station 121 along the extending direction of the first detection guide 240.

In one embodiment, referring to fig. 4 and 5, the first detecting mechanism 200 further includes a third detecting rail (not shown) disposed horizontally. The second detection rail 250 is connected to the third detection rail. The second detection rail 250 can move on the third detection rail closer to or farther from the second detection mechanism 300.

Therefore, the first grabbing member 230 can move towards or away from the second detection mechanism 300 under the driving of the second detection guide rail 250.

The extending direction of the first detection rail 240, the extending direction of the second detection rail 250, and the extending direction of the third detection rail are perpendicular to each other. Thus, the material gripped by the first gripper 230 can be moved in three-dimensional space in order to adjust the material to the first preset detection position.

It should be noted that the first preset detection position is an optimal detection position corresponding to the first station 121 and facilitating the camera 110 to detect the material.

In one embodiment, referring to fig. 2 and 6, the second detecting mechanism 300 includes a second gripper 330, a third rotating assembly 310 and a fourth rotating assembly 320. The second grasping member 330 is connected to the output shaft of the fourth rotating assembly 320. The fourth rotating assembly 320 is connected to the output shaft of the third rotating assembly 310. The second grabbing member 330 is used for grabbing the material which is detected by the first detection mechanism 200. The third rotating assembly 310 rotates the fourth rotating assembly 320 on the third plane. The fourth rotating assembly 320 rotates the second capturing member 330 on the fourth plane. The fourth plane is perpendicular to the third plane.

Therefore, after the second grabbing area grabs the material, the third rotating assembly 310 can drive the material to rotate on the third plane, and the fourth rotating assembly 320 can drive the material to rotate on the fourth plane, so as to adjust the position of the material, and the camera 110 located at the second station 122 is matched to detect the surface of the material.

In one embodiment, referring to fig. 2, 6 and 7, the second detection mechanism 300 further includes a fourth detection rail 340 and a fifth detection rail 350. The fourth rotating assembly 320 is disposed on the fifth detection guide 350. The fourth rotating assembly 320 moves in a vertical direction on the fifth sensing rail 350. The fifth sensing rail 350 moves in the horizontal direction on the fourth sensing rail 340.

Therefore, the second detection mechanism 300 can adjust the position of the second grabbing part 330 in the vertical direction and the horizontal direction, so as to adjust the material grabbed by the second grabbing part 330 to the preset photographing position corresponding to the second station 122.

The extending direction of the fifth detection rail 350 is perpendicular to the arrangement direction of the first station 121 and the second station, so that the second grabbing piece 330 can be driven by the fifth detection rail 350 to approach or depart from the second station 122 along the extending direction of the fourth detection rail 340.

In one embodiment, referring to fig. 2, 6 and 7, the second detecting mechanism 300 further includes a sixth detecting guide rail (not shown) disposed horizontally. The fifth detection rail 350 is connected to the sixth detection rail. The fifth detection rail 350 is movable on the sixth detection rail toward or away from the first detection mechanism 200.

Therefore, the second grabbing member 330 can be driven by the fifth detection rail 350 to move toward or away from the first detection mechanism 200.

The extending direction of the fourth detection rail 340, the extending direction of the fifth detection rail 350, and the extending direction of the sixth detection rail are perpendicular to each other. Therefore, the material gripped by the second gripper 330 can move in three-dimensional space so as to adjust the material to the second preset detection position.

It should be noted that the second preset detection position is an optimal detection position corresponding to the second station 122 and facilitating the camera 110 to detect the material.

In one embodiment, referring to fig. 1 and 2, the square shell inspection apparatus 10 further comprises a base station 400. The camera assembly 100, the first detecting mechanism 200 and the second detecting mechanism 300 are disposed on the base 400. The top of the base 400 is parallel to the horizontal plane, and the camera assembly 100, the first detection mechanism 200 and the second detection mechanism 300 are disposed on the top of the base 400, so as to ensure that the camera 110 remains relatively stable during the detection of the material.

In one embodiment, referring to fig. 2 and 8, the square shell inspection apparatus 10 further comprises a positioning mechanism 500 and a material handling mechanism 600. The positioning mechanism 500 is provided with a loading position 510 and a unloading position 520. The material handling mechanism 600 is used to transport undetected material to the upper level 510. The first sensing mechanism 200 senses material from a loading level 510. The loading level 510 is positioned in alignment with the first station 121. The second detecting mechanism 300 puts the detected material on the second detecting mechanism 300 to the blanking position 520. The material transport mechanism 600 transports away material located at the discharge level 520. The feed position 520 is aligned with the second station 122.

Therefore, the material to be detected is transported to the loading position 510 on the positioning mechanism 500 through the material transporting mechanism 600, and under the matching detection of the first detection mechanism 200, the second detection mechanism 300 and the camera assembly 100, the second detection mechanism 300 places the material which has been detected on the unloading position 520, and the material transporting mechanism 600 transports the material located at the unloading position 520 away.

Further, referring to fig. 8, the material conveying mechanism 600 includes a feeding gripper 610, a discharging gripper 620, and a material conveying moving structure 630. The loading clamp 610 can be driven by the material transporting structure 630 to move to the position aligned with the loading position 510, and the unloading clamp 620 can be driven by the material transporting structure to move to the position aligned with the unloading position 520.

Further, the second plane is perpendicular to the first plane. As shown in fig. 4, the first rotating member 210 can drive the second rotating member 220 to rotate along a first direction (any direction indicated by the arrow S) on a first plane; the second rotating assembly 220 can rotate the first capturing member 230 on the second plane in the second direction.

In addition, the fourth plane is perpendicular to the third plane. As shown in fig. 6, the third rotating assembly 310 can rotate the fourth rotating assembly 320 in a third direction (any direction indicated by the arrow T) on a third plane; the fourth rotating assembly 320 can rotate the second capturing member 330 on the fourth plane in the fourth direction.

It should be noted that, when the first detecting mechanism 200 is engaged with the camera 110 at the first station 121 to detect three surfaces of the material, the first rotating assembly 210 and the second rotating assembly 220 may have a plurality of rotating methods. Similarly, when the second detecting mechanism 300 detects three surfaces of the material in cooperation with the camera 110 at the second station 122, the third rotating assembly 310 and the fourth rotating assembly 320 may also have a plurality of rotating methods.

For convenience of understanding, the operation sequence of the square shell detecting apparatus 10 in the present embodiment will be described as follows:

the feeding clamping piece 610 clamps a material to be detected;

The loading gripper 610, under the urging of the material transporting moving structure 630, places the material at the loading level 510;

the first gripper 230 grips material from the loading level 510;

the first grabbing piece 230 grabs the material to be aligned with the camera 110 located at the first station 121 through the first detection guide rail 240 and the second detection guide rail 250, at this time, the first grabbing piece 230 grabs the first large surface, the first side surface and the second side surface of the material, and aligns the second large surface of the material with the camera 110, so that the camera 110 can detect the second large surface;

the first rotating assembly 210 drives the first grabbing member 230 to rotate 90 ° in the first direction on the first plane to align the first top surface of the material with the camera 110, so that the camera 110 can detect the first top surface;

the second rotating assembly 220 drives the first grabbing member 230 to rotate 180 ° on the second plane along the second direction, so as to align the second top surface of the material with the camera 110, thereby enabling the camera 110 to detect the second top surface;

the first gripper 230 moves the material to a position close to the second detection mechanism 300 via the third detection guide, and the camera 110 moves from the first station 121 to the second station 122 via the camera guide 120;

the second grabbing member 330 moves to a position close to the first detection mechanism 200 through the fourth detection guide rail 340, the fifth detection guide rail 350 and the sixth detection guide rail, grabs the material which is detected by the second large surface, the first top surface and the second top surface from the first grabbing member 230, at this time, the second grabbing member 330 grabs the second large surface, the first top surface and the second top surface of the material, and aligns the first side surface of the material with the camera 110 located at the second station 122, so that the camera 110 can detect the first side surface;

The fourth rotating assembly 320 drives the second grabbing member 330 to rotate 180 ° in the fourth direction on the fourth plane, so as to align the second side of the material with the camera 110, so that the camera 110 can detect the second side;

the third rotating assembly 310 drives the second grabbing member 330 to rotate 90 ° on the third plane along the third direction, so as to align the first large surface of the material with the camera 110, so that the camera 110 can detect the first large surface;

the second grabbing member 330 places the detected materials at a feeding position 520 through the fourth detection guide rail 340 and the fifth detection guide rail 350;

the discharge gripper 620 picks up the material at the discharge level 520 and transports it away.

It should be noted that the feeding clamping piece 610 and the discharging clamping piece 620 can work simultaneously, so as to save the transportation time and improve the working efficiency.

In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, should not be construed as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or to implicitly indicate the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless explicitly specified otherwise.

In the present invention, unless otherwise explicitly stated or limited, the terms "connected," "fixed," "engaged," and the like are to be construed broadly, e.g., as being fixedly connected, detachably connected, or integrated; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be interconnected within two elements or in a relationship where two elements interact with each other unless otherwise specifically limited. The specific meanings of the above terms in the present invention can be understood according to specific situations by those of ordinary skill in the art.

In the present invention, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may be directly contacting the second feature or the first and second features may be indirectly contacting each other through intervening media. Also, a first feature "on," "above," and "over" a second feature may be directly on or obliquely above the second feature, or simply mean that the first feature is at a higher level than the second feature. A first feature "under," "beneath," and "under" a second feature may be directly under or obliquely under the second feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. As used herein, the terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like are for purposes of illustration only and do not denote a single embodiment.

All possible combinations of the technical features of the above embodiments may not be described for the sake of brevity, but should be considered as within the scope of the present disclosure as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is specific and detailed, but not to be construed as limiting the scope of the utility model. It should be noted that various changes and modifications can be made by those skilled in the art without departing from the spirit of the utility model, and these changes and modifications are all within the scope of the utility model. Therefore, the protection scope of the present patent should be subject to the appended claims.

Claims (10)

1. The utility model provides a square shell check out test set which characterized in that, square shell check out test set includes:

the camera assembly comprises a camera guide rail and a camera arranged on the camera guide rail in a sliding mode, a first station and a second station are arranged on the camera guide rail, and the camera position can move between the first station and the second station;

the first detection mechanism is used for grabbing materials and adjusting the positions of the materials so that the camera can detect at least one surface of the materials on the first station;

and the second detection mechanism is used for grabbing the material which is detected by the first detection mechanism and adjusting the position of the material, so that the camera is used for sequentially detecting the rest surfaces of the material on the second station.

2. The square shell detection device according to claim 1, wherein the first detection mechanism comprises a first grabbing piece, a first rotating assembly and a second rotating assembly, the first grabbing piece is connected to an output shaft of the second rotating assembly, the second rotating assembly is connected to an output shaft of the first rotating assembly, the first grabbing piece is used for grabbing the material to be detected, the first rotating assembly drives the second rotating assembly to rotate on a first plane, the second rotating assembly drives the first grabbing piece to rotate on a second plane, and the first plane is perpendicular to the second plane.

3. The square shell detection device of claim 2, wherein the first grabbing piece is used for grabbing a first large face, a first side face and a second side face of the material, wherein the first side face and the second side face are opposite faces of the material, and the first large face is located between the first side face and the second side face.

4. The square shell detection device according to claim 2, wherein the first detection mechanism further comprises a first detection guide rail and a second detection guide rail, the first rotating assembly is slidably disposed on the second detection guide rail and can move on the second detection guide rail in a vertical direction, and the second detection guide rail moves on the first detection guide rail in a horizontal direction.

5. The square shell detection device of claim 4, wherein the first detection mechanism further comprises a horizontally disposed third detection rail, the second detection rail is connected to the third detection rail, and the second detection rail can move on the third detection rail to approach or move away from the second detection mechanism.

6. The square shell detection device according to claim 1, wherein the second detection mechanism comprises a second grabbing piece, a third rotating assembly and a fourth rotating assembly, the second grabbing piece is connected to an output shaft of the fourth rotating assembly, the fourth rotating assembly is connected to an output shaft of the third rotating assembly, the second grabbing piece is used for grabbing the materials which are detected by the first detection mechanism, the third rotating assembly drives the fourth rotating assembly to rotate on a third plane, the fourth rotating assembly drives the second grabbing piece to rotate on a fourth plane, and the fourth plane is perpendicular to the third plane.

7. The square shell detection device according to claim 6, wherein the second detection mechanism further comprises a fourth detection guide rail and a fifth detection guide rail, the fourth rotating assembly is disposed on the fifth detection guide rail and can move on the fifth detection guide rail in a vertical direction, and the fifth detection guide rail moves on the fourth detection guide rail in a horizontal direction.

8. The square shell detection device of claim 7, wherein the second detection mechanism further comprises a horizontally disposed sixth detection guide rail, the fifth detection guide rail is connected to the sixth detection guide rail, and the fifth detection guide rail can move on the sixth detection guide rail to approach or move away from the first detection mechanism.

9. The square shell inspection apparatus of claim 1, further comprising a base on which the camera assembly, the first inspection mechanism, and the second inspection mechanism are disposed.

10. The square shell detection equipment of claim 1, further comprising a positioning mechanism and a material conveying mechanism, wherein the positioning mechanism is provided with a material loading position and a material unloading position, the material conveying mechanism is used for conveying undetected materials to the material loading position, the first detection mechanism is used for conveying the materials on the material loading position, the material loading position is aligned with the first station, the second detection mechanism is used for placing the materials detected by the second detection mechanism to the material unloading position, the material conveying mechanism is used for conveying the materials at the material unloading position, and the material unloading position is aligned with the second station.

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