CN115980072A

CN115980072A - Multi-station five-degree-of-freedom automatic detection device

Info

Publication number: CN115980072A
Application number: CN202310272393.0A
Authority: CN
Inventors: 常卓越; 邱雨菲; 张武杰
Original assignee: Casi Vision Technology Luoyang Co Ltd; Casi Vision Technology Beijing Co Ltd
Current assignee: Casi Vision Technology Luoyang Co Ltd; Casi Vision Technology Beijing Co Ltd
Priority date: 2023-03-17
Filing date: 2023-03-17
Publication date: 2023-04-18
Anticipated expiration: 2043-03-17
Also published as: CN115980072B

Abstract

The utility model provides a multistation five-degree-of-freedom automatic detection device, which comprises a frame assembly, a positioning assembly, a rotation detection platform assembly, a feeding and carrying assembly, a camera assembly and a translation assembly, wherein the rotation detection platform assembly comprises an alpha rotation module, a beta rotation module and an adsorption tray, and the alpha rotation module and the beta rotation module are linked and connected with the adsorption tray; the loading and carrying assembly is used for carrying the product to be detected to the adsorption tray from the positioning assembly; the camera assembly comprises a detection portal frame, a Y-direction movement module, a Z-direction movement module and a camera light source module, and the camera light source module is arranged on the detection portal frame and can move along the Y direction or the Z direction; the translation assembly is used for driving the rotation detection platform deck assembly to move in the X direction; and acquiring image information corresponding to the product to be detected after adjusting the detection posture at least in one of five degrees of freedom in the alpha direction, the beta direction, the X direction, the Y direction and the Z direction through the camera light source module. The method and the device can improve the detection efficiency and reduce the detection cost.

Description

Multi-station five-degree-of-freedom automatic detection device

Technical Field

The utility model relates to a product inspection technical field especially relates to a five degree of freedom automatic checkout devices of multistation.

Background

With the development of science and technology and the progress of living standard, in the field of product appearance defect detection, machine vision detection has gradually replaced manual detection.

The existing machine vision detection equipment comprises a carrying device and a vision device, wherein a product to be detected is conveyed through the carrying device, and the vision device acquires an image of the product to be detected so as to detect the defects of the product.

However, the existing machine vision detection equipment needs to manually adjust the angle of the product to be detected, so that the comprehensive detection of the product to be detected can be completed, the detection efficiency is low, and the detection cost is increased.

Disclosure of Invention

The present disclosure is directed to a multi-station five-degree-of-freedom automatic detection apparatus, which at least solves the above technical problems in the prior art.

In order to achieve the above object, the present disclosure provides a multi-station five-degree-of-freedom automatic detection device, comprising: the automatic detection device comprises a rack assembly, a positioning assembly, a rotation detection carrying platform assembly, a feeding and carrying assembly, a camera assembly and a translation assembly, wherein the rack assembly is used for bearing the whole automatic detection device; the positioning assembly is used for initially positioning a product to be detected; the rotation detection carrier assembly is used for changing the detection posture of a product to be detected during detection and comprises an alpha rotation module, a beta rotation module and an adsorption tray for adsorbing and fixing the product to be detected, wherein the alpha rotation module and the beta rotation module are in linkage connection with the adsorption tray so that the product to be detected can rotate in the alpha direction or the beta direction; the feeding and carrying assembly is used for carrying a product to be tested from the positioning assembly to the corresponding adsorption tray along the X direction and/or the Z direction, the Z direction is a vertical direction, and the X direction is a horizontal direction; the camera assembly comprises a detection portal frame, a Y-direction motion module, a Z-direction motion module and a plurality of camera light source modules, the plurality of camera light source modules are arranged on the detection portal frame through the Z-direction motion module and the Y-direction motion module so that the camera light source modules can move along the Y direction or the Z direction, and the Y direction is respectively vertical to the X direction and the Z direction; the translation assembly is used for driving the rotation detection platform deck assembly to move in the X direction; and acquiring image information corresponding to the product to be detected after the detection attitude of the product to be detected is adjusted at least in one of five degrees of freedom in the alpha direction, the beta direction, the X direction, the Y direction and the Z direction through the camera light source module.

In an implementation manner, the rotation detection stage assembly includes a stage support mechanism and a stage rotation mechanism, the stage support mechanism is disposed on the frame assembly, the α rotation module includes a first driving element and an α rotation shaft, the stage rotation mechanism is rotatably disposed on the stage support mechanism through the α rotation shaft, and the first driving element can drive the stage rotation mechanism to rotate along an axis of the α rotation shaft; the beta rotating module comprises a second driving piece and a beta rotating shaft, the adsorption tray is rotatably arranged on the carrying platform rotating mechanism through the beta rotating shaft, and the second driving piece can drive the adsorption tray to rotate along the axis of the beta rotating shaft.

In an embodiment, the stage rotating mechanism is provided with a plurality of the suction trays, and each suction tray is connected to the stage rotating mechanism through the β -rotation module.

In one embodiment, the frame assembly includes a foot assembly, a welding frame, and an equipment platform.

In one embodiment, the translation assembly comprises: the device comprises a bottom plate, a translation driving mechanism, a sliding plate and an outer protective cover, wherein the bottom plate is arranged on the device platform, the translation driving mechanism is arranged on the bottom plate, the sliding plate is connected with the output end of the translation driving mechanism, the microscope stage supporting mechanism is arranged on the sliding plate, and the translation driving mechanism is used for driving the microscope stage supporting mechanism to move along the X direction.

In an implementation manner, the detection gantry is arranged on the equipment platform, the Y-direction movement module comprises a Y-direction linear guide rail, a Y-direction driving mechanism and a Y-direction sliding bottom plate, the Y-direction linear guide rail is arranged on the detection gantry along the Y direction, the Y-direction sliding bottom plate is arranged on the Y-direction linear guide rail in a sliding manner, and the Y-direction sliding bottom plate is connected with an output end of the Y-direction driving mechanism.

In an implementation manner, the Z-direction movement module includes a Z-direction linear guide rail, a Z-direction driving mechanism, and a Z-direction sliding bottom plate, the Z-direction linear guide rail is disposed on the Y-direction sliding bottom plate along the Z-direction, the Z-direction sliding bottom plate is slidably disposed on the Z-direction linear guide rail, and the Z-direction sliding bottom plate is connected with an output end of the Z-direction driving mechanism.

In an implementation manner, the camera light source module includes an illumination device, a light source adjusting mechanism and a detection camera, and the light source adjusting mechanism is disposed on the Z-direction sliding bottom plate.

In an implementation manner, the detection camera includes a camera mounting plate, an area-array camera and a lens, the area-array camera is disposed on the camera mounting plate in a liftable manner, and the lens is disposed on the area-array camera and is used for converging reflected light and imaging the reflected light on a photosensitive chip of the area-array camera.

In an embodiment, the lighting device comprises: the coaxial illumination mechanism, the annular illumination mechanism and the strip illumination mechanism are used for providing a coaxial light source for the detection camera so as to illuminate the product to be detected and highlight the pressure injury and/or dirt on the product to be detected; the annular illuminating mechanism is used for providing an annular light source for the detection camera so as to illuminate the product to be detected and highlight scratches and/or depressions on the product to be detected; the strip-shaped illuminating mechanism is used for providing a strip-shaped light source for the detection camera so as to illuminate the product to be detected and highlight the abnormal colors and/or bright marks on the product to be detected.

In an embodiment, the annular illuminating mechanism and the coaxial illuminating mechanism are coaxially arranged, so that the coaxial light source can penetrate through the annular light source; the strip-shaped illuminating mechanism is positioned on the outer side of the annular illuminating mechanism.

In one embodiment, the light source adjustment mechanism comprises: the light source adjusting plate is provided with a first slide way along the Z direction, the first slide block is arranged on the first slide way in a sliding manner, and the first slide block can slide along the first slide way and can be positioned relative to the first slide way; the first mounting seat is connected with the first sliding block and used for mounting the annular lighting mechanism; the second mounting seat is connected with the first sliding block and used for mounting the bar-shaped lighting mechanism.

In an embodiment, the second mount includes: the mounting seat comprises a mounting seat main body, a first mounting plate and a second mounting plate, wherein the mounting seat main body is connected with the first sliding block; the first mounting plate is rotatably connected with the mounting seat main body through a first connecting shaft, the first mounting plate can rotate relative to the mounting seat main body by taking the first connecting shaft as a center and can be positioned relative to the mounting seat main body, the first connecting shaft is arranged along the Y direction, and the first mounting plate extends along the axial direction of the first connecting shaft; the second mounting panel through the second connecting axle with the mount pad main part is rotated and is connected, the second mounting panel can with the second connecting axle for the center for the mount pad main part rotates relatively, and can with mount pad main part relative positioning, the second connecting axle extends X to setting up, the second mounting panel is followed the axial extension of second connecting axle be provided with on first mounting panel and the second mounting panel respectively bar lighting mechanism sets up bar lighting mechanism on the first mounting panel with the extension of first mounting panel syntropy sets up bar lighting mechanism on the second mounting panel with the extension of second mounting panel syntropy.

In an implementation manner, a second slideway and a third slideway are arranged on the mounting seat main body, the first mounting plate is slidably arranged on the second slideway through the first connecting shaft, and the first connecting shaft can slide along the second slideway and can be positioned opposite to the second slideway; the second mounting panel passes through the second connecting axle slides and sets up on the third slide, the second connecting axle can be followed the third slide slides, and can with third slide relative positioning.

In an embodiment, the second and third slides are both arc slides.

In an implementation mode, material loading transport subassembly includes transport portal frame, installation roof, transport translation mechanism, lifting mechanism and is used for absorbing the sucking disc subassembly of the product that awaits measuring, the transport portal frame sets up on the equipment platform, the installation roof is fixed on the transport portal frame, translation mechanism and lifting mechanism all set up on the installation roof, the sucking disc subassembly sets up lifting mechanism's output, translation mechanism is used for the drive lifting mechanism and sucking disc subassembly wholly extend the removal of X to.

In one embodiment, the lifting mechanism comprises: electronic jar of lifting, electronic jar connecting plate, sucking disc fixed plate and a plurality of guiding axle, the piston rod of the electronic jar of lifting passes through-hole on the installation roof is in with the setting electronic jar connecting plate of installation roof below links to each other, and is a plurality of the guiding axle extends Y to distribute in the both sides of the electronic jar of lifting, the guiding axle passes in proper order behind installation roof and the electronic jar connecting plate with the sucking disc fixed plate is connected, the sucking disc fixed plate is used for setting up the sucking disc subassembly, through the lift of the piston rod of the electronic jar of lifting, the drive the lift of sucking disc fixed plate.

In one embodiment, the transport translation mechanism comprises: translation motor, drive screw, lead screw supporting seat, lead screw slider, action wheel, follow driving wheel and hold-in range, translation motor is in with the lead screw supporting seat setting on the installation roof, drive screw rotates to set up on the lead screw supporting seat, just drive screw's axial with the axial direction of translation motor's output shaft is parallel, the coaxial setting of action wheel is in on translation motor's the output shaft, follow the coaxial setting of driving wheel is in drive screw's one end, the action wheel with pass through from the driving wheel the hold-in range is connected, lead screw slider threaded sleeve is established on drive screw, lead screw slider with electronic jar connecting plate links to each other, through translation motor drives drive screw's rotation, and then makes lead screw slider produces X to removing, drives the X of electronic jar connecting plate is to removing.

In an implementation mode, the positioning assembly comprises a plurality of positioning stages, wherein the positioning stages are provided with an X-direction fixed retaining edge and a Y-direction fixed retaining edge which are perpendicular to each other, and an X-direction positioning pushing block and a Y-direction positioning pushing block, and the X-direction positioning pushing block is pushed to be far away from or close to the X-direction fixed retaining edge through translation of a first positioning cylinder; and the Y-direction positioning push block is pushed to be far away from or close to the Y-direction fixed flange through the translation of the second positioning cylinder.

In an embodiment, the X-direction positioning pushing block and the Y-direction positioning pushing block are connected with the piston rod of the corresponding cylinder through the buffer part.

In an implementation manner, the device further includes a control center device, and the control center device is configured to control the movement of the positioning assembly, the rotation detection stage assembly, the material loading and carrying assembly, the camera assembly, and the translation assembly.

The multi-station five-degree-of-freedom automatic detection device can acquire image information corresponding to a product to be detected after adjusting the detection posture in one or more of five degrees of freedom in the alpha direction, the beta direction, the X direction, the Y direction and the Z direction through the camera assembly, and can perform comprehensive automatic detection on the product to be detected. Because the angle adjustment of the product to be detected does not need to be carried out manually, the detection efficiency is improved, and the detection cost is reduced.

It should be understood that the statements in this section do not necessarily identify key or critical features of the embodiments of the present disclosure, nor do they limit the scope of the present disclosure. Other features of the present disclosure will become apparent from the following description.

Drawings

The above and other objects, features and advantages of exemplary embodiments of the present disclosure will become readily apparent from the following detailed description read in conjunction with the accompanying drawings. Several embodiments of the present disclosure are illustrated by way of example, and not by way of limitation, in the figures of the accompanying drawings and in which:

in the drawings, the same or corresponding reference numerals indicate the same or corresponding parts.

Fig. 1 is a schematic structural view of a multi-station five-degree-of-freedom automatic detection device according to an embodiment of the present disclosure;

FIG. 2 is a schematic structural diagram of a rack assembly according to one embodiment of the present disclosure;

FIG. 3 is a schematic structural diagram of a positioning assembly of one embodiment of the present disclosure;

FIG. 4 is a schematic structural view of an X-direction positioning pushing block and a first positioning cylinder in the positioning assembly according to one embodiment of the present disclosure;

FIG. 5 is a schematic structural view of a Y-positioning pushing block and a second positioning cylinder in the positioning assembly according to an embodiment of the disclosure;

FIG. 6 is a schematic structural view of an infeed handling assembly according to one embodiment of the present disclosure;

FIG. 7 is a schematic view of the structure of FIG. 6 from another perspective;

fig. 8 is a schematic structural diagram of a rotation detection stage assembly according to an embodiment of the present disclosure;

FIG. 9 is a schematic view of another configuration of the rotation detection stage assembly of FIG. 8;

FIG. 10 is a schematic structural view of a translation assembly according to one embodiment of the present disclosure;

FIG. 11 is a schematic structural view of the translation drive mechanism of FIG. 10;

FIG. 12 is a schematic view of the translating assembly shown after covering the outer shroud according to one embodiment of the present disclosure;

FIG. 13 is a schematic structural diagram of a camera assembly of one embodiment of the present disclosure;

FIG. 14 is a schematic structural diagram of a Y-direction motion module according to an embodiment of the disclosure;

FIG. 15 is a schematic structural diagram of a Z-direction motion module according to an embodiment of the disclosure;

fig. 16 is a schematic structural diagram of a camera light source module according to an embodiment of the disclosure;

fig. 17 is a side view of fig. 16.

Wherein the figures include the following reference numerals:

100. a rack assembly; 101. a foot margin assembly; 102. welding the frame; 103. an equipment platform;

200. a positioning assembly; 201. positioning a carrying platform; 2011. positioning the frame; 2012. positioning the bottom plate; 2013. positioning the adapter plate; 2014. a supporting block; 2015. positioning a reference plate; 202. an X-direction fixed flange; 203. fixing a flange in the Y direction; 204. positioning the supporting plate; 205. an X-direction positioning mechanism; 2051. a first linear guide rail; 2052. a first positioning cylinder; 2053. a first floating joint; 2054. a first cylinder attachment; 2055; an X-direction push rod; 2056. a first guide rail connecting plate; 2057. an X-direction positioning push block; 206. a Y-direction positioning mechanism; 2061. a second linear guide rail; 2062. a second positioning cylinder; 2063. a second floating joint; 2064. a second guide rail connecting plate; 2065. a support plate; 2066. a second cylinder connection; 207. a Y-direction positioning component; 2071. y-direction positioning push blocks; 2072. a vertical plate; 2073. a first side plate; 2074. a third linear guide rail; 2075. a guide rail connecting block; 2076. a positioning block connecting piece; 2077. a compression spring; 2078. a second side plate;

300. a material loading and carrying assembly; 310. carrying the portal frame; 320. installing a top plate; 321. an avoidance groove; 331. a translation motor; 332. a drive screw; 333. a lead screw supporting seat; 334. a lead screw slider; 335. a driving wheel; 336. a driven wheel; 337. a synchronous belt; 338. a linear guide rail; 341. lifting the electric cylinder; 342. a cylinder joint; 343. a linear bearing; 344. a limiting block; 345. an electric cylinder connecting plate; 346. a sucker fixing plate; 347. a guide shaft; 350. a sucker component;

400. a rotation detection stage assembly; 410. a stage support mechanism; 420. a stage rotating mechanism; 431. a first driving member; 432. an alpha shaft; 441. a second driving member; 442. a beta rotating shaft; 450. an adsorption tray;

500. a translation assembly; 510. a base plate; 520. a translation drive mechanism; 521. a translation drive motor; 522. a translation drive lead screw; 523. translating the lead screw nut; 524. a lead screw bearing seat; 530. a slide plate; 540. an outer shroud;

600. a camera assembly; 610. detecting a portal frame; 620. a Y-direction motion module; 621. a Y-direction linear guide rail; 6221. a first motor; 6222. a first ball screw; 6223. a first lead screw support; 6224. a first lead screw nut; 623. a Y-direction sliding bottom plate; 630. a Z-direction movement module; 631. a Z-direction linear guide rail; 6321. a second motor; 6322. a first drive pulley; 6323. a second transmission wheel; 6324. a transmission belt; 6325. a second ball screw; 6326. a second lead screw support; 6327. a second lead screw nut; 633. a Z-direction sliding bottom plate; 640. a camera light source module; 641. a lighting device; 6411. a coaxial illumination mechanism; 6412. an annular illumination mechanism; 6413. a strip illumination mechanism; 642. a light source adjusting mechanism; 6421. a light source adjusting plate; 6422. a first slider; 6423. a first mounting seat; 6424. a second mounting seat; 64241. a mount body; 64242. a first mounting plate; 64243. a second connecting shaft; 643. detecting a camera; 6431. a camera mounting plate; 6432. an area-array camera; 6433. a lens; 651. a first slideway; 652. a second slideway; 653. a third slideway;

700. and (5) testing the product to be tested.

Detailed Description

In order to make the objects, features and advantages of the present disclosure more apparent and understandable, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present disclosure, and it is apparent that the described embodiments are only a part of the embodiments of the present disclosure, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments disclosed herein without making any creative effort, shall fall within the protection scope of the present disclosure.

In the embodiment of the disclosure, the X direction, the Y direction and the Z direction are reference space directions, the X direction, the Y direction and the Z direction are perpendicular to each other, and the Z direction is a vertical direction.

Referring to fig. 1, the present disclosure provides a multi-station five-degree-of-freedom automatic detection device, including: the system comprises a rack assembly 100, a positioning assembly 200, a rotation detection stage assembly 400, a feeding and carrying assembly 300, a camera assembly 600, a translation assembly 500 and a control center device, wherein the control center device is used for controlling the movement of the positioning assembly 200, the rotation detection stage assembly 400, the feeding and carrying assembly 300, the camera assembly 600 and the translation assembly 500, and acquiring image information corresponding to a product 700 to be detected after adjusting a detection posture through the camera assembly 600 in one or more of five degrees of freedom of an alpha direction, a beta direction, an X direction, a Y direction and a Z direction.

Referring to fig. 2, in the embodiment of the present disclosure, the rack assembly 100 is used to carry the entire automatic detection apparatus, the rack assembly 100 is composed of a foot assembly 101, a welding frame 102 and an equipment platform 103, and the equipment platform 103 is made of marble.

Referring to fig. 3 to 5, in the embodiment of the present disclosure, the positioning assembly 200 is used to initially position a product 700 to be measured, the positioning assembly 200 includes a positioning stage 201, a Y-direction positioning mechanism 206, and an X-direction positioning mechanism 205 that are arranged on the device platform 103 along the Y direction, the positioning stage 201 is a base and a frame of the entire device, and the Y-direction positioning mechanism 206 and the X-direction positioning mechanism 205 are respectively mounted and supported by a positioning adapter plate 2013 and are respectively located on two sides of the positioning stage 201.

Location microscope carrier 201 includes location frame 2011, location bottom plate 2012, location keysets 2013, supporting shoe 2014 and location datum plate 2015, location frame 2011 is located the below, install location bottom plate 2012 and location keysets 2013 in proper order above location frame 2011, supporting shoe 2014 fixed mounting is at location keysets 2013 both ends, location datum plate 2015 is installed in supporting shoe 2014 top, be provided with location backup pad 204 on location datum plate 2015, X is to fixed flange 202 and Y to fixed flange 203, a plurality of location backup pad 204 prolong Y to install in the recess on location datum plate 2015 side by side, a plurality of Y is fixed to fixed flange 203 in the long limit one side of location datum plate 2015, a plurality of X is fixed to fixed flange 202 in the short side of location datum plate 2015. Preferably, the material of the X-direction fixing rib 202 and the Y-direction fixing rib 203 is PEEK, so that the abrasion and scratch of the edge of the product to be tested can be avoided in the contact with the product to be tested.

In the embodiment of the present disclosure, the X-direction positioning mechanism 205 includes a first positioning cylinder 2052, a first floating joint 2053, a first cylinder connector 2054, a first linear guide rail 2051, a first guide rail connecting plate 2056, an X-direction push rod 2055, and an X-direction positioning push block 2057, the first positioning cylinder 2052 and the first linear guide rail 2051 are arranged side by side on the positioning adapter plate 2013, one end of the first positioning cylinder 2052 is connected to the first floating joint 2053, the first floating joint 2053 is connected to the first cylinder connector 2054, the first cylinder connector 2054 is fixedly connected to the X-direction push rod 2055, one end of the first guide rail connecting plate 2056 is connected to the first linear guide rail 2051, the other end of the first positioning cylinder is connected to the X-direction push rod 2055, and a plurality of X-direction positioning push blocks 2057 are fixed in front of the X-direction push rod 2055 through screws penetrating through the X-direction push rods 2055.

The Y-direction positioning mechanism 206 includes a second positioning cylinder 2062, a second floating joint 2063, a second linear guide 2061, a supporting plate 2065, a second guide connecting plate 2064, a second cylinder connector 2066, and a Y-direction positioning assembly 207, and further, the Y-direction positioning assembly 207 includes a vertical plate 2072, a third linear guide 2074, a first side plate 2073, a second side plate 2078, a guide connecting block 2075, a compression spring 2077, a positioning block connector 2076, and a Y-direction positioning push block 2071. The second positioning cylinder 2062 and the second linear guide rail 2061 are arranged on the positioning adapter plate 2013 side by side, one end of the second positioning cylinder 2062 is connected with the second floating joint 2063, one end of the second cylinder connecting piece 2066 is fixed with the second floating joint 2063, the other end is connected with the support plate 2065, one side of the second guide rail connecting plate 2064 is connected with the second linear guide rail 2061, the other side is connected with the support plate 2065, and a plurality of short-side positioning assemblies are arranged on the support plate 2065 in parallel.

In the Y-direction positioning assembly 207, the vertical plate 2072 is vertically fixed on the supporting plate 2065, the third linear guide 2074 is fixed on the inner side of the vertical plate 2072, the first side plate 2073 and the second side plate 2078 are respectively fixed on one side of the vertical plate 2072, the guide rail connecting block 2075 is fixedly connected on the third linear guide 2074, one end of the compression spring 2077 extends into the guide rail connecting block 2075 to be fixed, the other end extends into the second side plate 2078 to be fixed, the positioning block connecting piece 2076 is fixed on the guide rail connecting piece, the Y-direction positioning push block 2070 is fixed on the positioning block connecting piece 2076 to be parallel to the short-edge positioning block in the positioning carrier.

Preferably, the X-direction positioning push block 2057 and the Y-direction positioning push block 2071 are made of PEEK, so that the edge of the product to be tested can be prevented from being worn and scratched when the product to be tested is in contact with the product to be tested.

In the embodiment of the present disclosure, the product 700 to be measured is placed on the positioning stage 201, and the product 700 to be measured is adjusted to the set posture in the clamping and positioning manner, so as to improve the reliability of the subsequent material loading and transporting assembly 300 for accurately grabbing the product 700 to be measured. The X-direction positioning push block 2057 is pushed to move away from or close to the X-direction fixed flange 202 by the translation of the first positioning cylinder 2052; the Y-direction positioning push block 2071 is moved away from or close to the Y-direction fixed rib 203 by the translational push of the second positioning cylinder 2062. When the product 700 to be tested is placed on the positioning carrier 201, the first positioning cylinder 2052 pushes the X-direction positioning push block 2057 to drive the product 700 to be tested to move towards the X-direction fixed rib 202, and one side edge of the product 700 to be tested is abutted against the X-direction fixed rib 202; the Y-direction positioning block 2071 is pushed by the second positioning cylinder 2062 to drive the product 700 to be tested to move towards the Y-direction fixed rib 203, and the other side edge of the product 700 to be tested is abutted against the Y-direction fixed rib 203. Further, the relative postures of the products 700 to be measured on the positioning stages 201 are consistent, so that the material loading and carrying assembly 300 can uniformly grab all the products 700 to be measured in the same grabbing posture.

In the embodiment of the present disclosure, the X-direction positioning push block 2057 and the Y-direction positioning push block 2071 are connected to the piston rod of the corresponding cylinder through a buffer. Specifically, a first buffer hole is formed in the X-direction positioning push block 2057, a first buffer spring (not shown in the figure) is arranged in the first buffer hole, one end of the first buffer spring is connected with the X-direction positioning push block 2057, and the other end of the first buffer spring is connected with a piston rod of the first positioning cylinder 2052; y sets up the second buffer hole to location ejector pad 2071 is inside, sets up second buffer spring (not shown in the figure) in the second buffer hole, and Y is connected to location ejector pad 2071 to second buffer spring's one end, and the piston rod of second location cylinder 2062 is connected to the other end, and above-mentioned buffer structure's setting can play the cushioning effect to whole location process, ensures that every product 700 that awaits measuring can not be hindered by the clamp in centre gripping location process.

Referring to fig. 6-7, in the embodiment of the present disclosure, the material loading and carrying assembly 300 includes a carrying gantry 310, a mounting top plate 320, a carrying translation mechanism, a lifting mechanism, and a chuck assembly 350 for sucking a product 700 to be tested, the carrying gantry 310 is disposed on the equipment platform 103, the mounting top plate 320 is fixed at the top of the carrying gantry 310, the carrying translation mechanism and the lifting mechanism are both disposed on the mounting top plate 320, the chuck assembly 350 is disposed at an output end of the lifting mechanism, and the carrying translation mechanism is configured to drive the lifting mechanism and the chuck assembly 350 to move integrally along the X direction.

Specifically, the lifting mechanism includes: the lifting electric cylinder 341, the cylinder joint 342, the linear bearing 343, the limiting block 344, the electric cylinder connecting plate 345, the suction cup fixing plate 346 and the four guide shafts 347 are arranged on two sides of the lifting electric cylinder 341 side by side along the Y direction, a piston rod of the lifting electric cylinder 341 is connected with the cylinder joint 342 below through a through hole on the electric cylinder connecting plate 345, the four linear bearings 343 are arranged through the electric cylinder connecting plate 345 side by side, the guide shafts 347 penetrate through the linear bearing 343, one end of each guide shaft is connected with the limiting block 344, the other end of each guide shaft is connected with the suction cup fixing plate 346 below, the four suction cup assemblies 350 are arranged on the suction cup fixing plate 346 side by side through suction cup fixing pieces respectively, each suction cup assembly 350 comprises a suction cup, and the suction cups are communicated with an external air pipe so that the products 700 to be detected can be sucked. The guide shaft 347, the suction cup fixing plate 346 and the suction cup assembly 350 can be driven to perform vertical linear motion by the pushing and extending of the piston rod in the lifting electric cylinder 341.

The transport translation mechanism includes: the device comprises a translation motor 331, a transmission screw 332, screw supporting seats 333, screw sliders 334, a driving wheel 335, driven wheels 336 and a synchronous belt 337, wherein the translation motor 331 and the screw supporting seats 333 are arranged on an installation top plate 320, a fixing plate and a motor installation plate are arranged on the installation top plate 320, holes are formed below the motor installation plate and fixed on the side surface of the fixing plate through screws, the translation motor 331 and the motor installation plate are in vertical relation, the two screw supporting seats 333 are arranged on the motor installation plate, the two screw supporting seats 333 are arranged at two ends of the central line of the long side of the installation top plate 320, two ends of the transmission screw 332 are respectively and rotatably arranged on the different screw supporting seats 333, the axial direction of the transmission screw 332 is parallel to the axial direction of an output shaft of the translation motor 331, the driving wheel 335 is coaxially arranged on the output shaft of the translation motor 331, the driven wheel 336 is coaxially arranged at one end of the transmission screw 332, the driving wheel 335 is connected with the driven wheels 336 through the synchronous belt 337, the screw sliders 334 are in a threaded sleeve manner on the transmission screw, the transmission screw sliders 345 are connected with electric cylinder connecting plates 345, linear guide rails 338 are arranged below two sides of the installation top plate 320, and two ends of the electric cylinders 345 are connected with the linear guide rails 338 in a sliding manner. The output shaft of the translation motor 331 rotates to drive the driving wheel 335 to rotate, and then the driven wheel 336 is driven to rotate through the synchronous belt 337, so that the transmission screw 332 rotates to drive the screw slider 334 to move in the X direction, the screw slider 334 is connected with the electric cylinder connecting plate 345, two ends of the electric cylinder connecting plate 345 are connected with the linear guide 338, and the electric cylinder connecting plate 345 can perform X-direction linear motion along the linear guide 338 under the action of the translation motor 331. The guide shaft 347 sequentially passes through the mounting top plate 320 and the electric cylinder connection plate 345 and then is connected to the suction cup fixing plate 346, the mounting top plate 320 is provided with an escape groove 321 for escaping the movement of the guide shaft 347, and the suction cup assembly 350 is provided on the suction cup fixing plate 346, so that when the electric cylinder connection plate 345 performs the linear movement in the X direction, the suction cup assembly 350 also performs the linear movement in the X direction at the same time.

By using the above-mentioned feeding and carrying assembly 300, after the lifting mechanism and the carrying translation mechanism are adjusted, the product 700 to be measured can be carried from the positioning assembly 200 to the rotation detection stage assembly 400.

Referring to fig. 8 to 9, in the embodiment of the present disclosure, the rotation detection stage assembly 400 is used to change the detection posture of the product 700 to be detected during detection, the rotation detection stage assembly 400 includes a stage support mechanism 410, a stage rotation mechanism 420, an α rotation module, a β rotation module, and an adsorption tray 450 for adsorbing and fixing the product 700 to be detected, the stage support mechanism 410 is disposed on the device platform 103, and the α rotation module and the β rotation module are linked to connect the adsorption tray 450, so that the product 700 to be detected can rotate in an α direction or a β direction. Specifically, the α rotation module includes a first driver 431 and an α rotation shaft 432, the stage rotation mechanism 420 is rotatably disposed on the stage support mechanism 410 through the α rotation shaft 432, and the first driver 431 can drive the stage rotation mechanism 420 to rotate along the axis of the α rotation shaft 432. The β rotation module includes a second driving element 441 and a β rotation shaft 442, the adsorption tray 450 is rotatably disposed on the stage rotation mechanism 420 through the β rotation shaft 442, the second driving element 441 can drive the adsorption tray 450 to rotate along the axis of the β rotation shaft 442, the first driving element 431 and the second driving element 441 are both motors, and an output shaft of the first driving element 431 is connected to the α rotation shaft 432 through a reducer, so as to reduce the rotation speed and increase the torque, and drive the stage rotation mechanism 420 to rotate; an output shaft of the second driving member 441 is connected to the β rotating shaft 442 through a speed reducer, so as to reduce the rotation speed and increase the torque, thereby driving the adsorption tray 450 to rotate. Preferably, the first driving member 431 and the second driving member 441 are both servo motors, and the speed reducer is a harmonic speed reducer.

In the embodiment of the present disclosure, a plurality of suction trays 450 are disposed on the stage rotating mechanism 420, and each suction tray 450 is connected to the stage rotating mechanism 420 through a β -rotation module.

The alpha rotation module can realize 360-degree rotation of the product 700 to be detected around the alpha rotating shaft 432, so that the camera assembly 600 can obtain image information of different angles reflected by the product 700 to be detected when rotating around the alpha rotating shaft 432; the product 700 to be tested can rotate 360 degrees around the beta rotating shaft 442 through the beta rotating module, so that the camera assembly 600 can obtain image information of different angles reflected by the product 700 to be tested when rotating around the beta rotating shaft 442, and the product 700 to be tested can be more comprehensively detected.

The specific process of transporting the product 700 to be detected from the positioning assembly 200 to the rotation detection stage assembly 400 is as follows: the carrying translation mechanism firstly extends the X direction to enable the sucker assembly 350 to operate right above the positioning assembly 200, then the sucker assembly 350 moves downwards through the extension of the piston rod of the lifting electric cylinder 341, until the sucker in the sucker assembly 350 is correspondingly adsorbed to the product 700 to be detected on the positioning carrier 201, the piston rod of the lifting electric cylinder 341 contracts, meanwhile, the carrying translation mechanism extends the X direction again to enable the sucker assembly 350 to operate right above the carrier rotating mechanism 420, then the sucker assembly 350 moves downwards through the extension of the piston rod of the lifting electric cylinder 341 until the product 700 to be detected can be placed on the corresponding adsorption tray 450, and finally the carrying translation mechanism returns.

Referring to fig. 10-12, in an embodiment of the present disclosure, a translation assembly 500 includes: the device comprises a bottom plate 510, a translation driving mechanism 520, a sliding plate 530 and an outer shield 540, wherein the bottom plate 510 is arranged on the device platform 103 along the X direction, the translation driving mechanism 520 is arranged on the bottom plate 510, the sliding plate 530 is connected with the output end of the translation driving mechanism 520, a stage supporting mechanism 410 is arranged on the sliding plate 530, the translation driving mechanism 520 is used for driving the stage supporting mechanism 410 to move along the X direction, and the outer shield 540 is arranged on the bottom plate 510 and used for protecting internal devices.

Specifically, the translation drive mechanism 520 includes: translation driving motor 521, translation driving screw 522, translation lead screw nut 523 and screw bearing 524, translation driving screw 522 extend X to rotate and set up on screw bearing 524, translation driving screw 522's one end passes through the coupling joint with translation driving motor 521's output shaft, translation lead screw nut 523 threaded sleeve locates on translation driving screw 522 to translation lead screw nut 523 is connected with slide 530, at the pivoted in-process of translation driving motor 521, make slide 530 extend X to remove.

The movement of the stage support mechanism 410 in the X direction can be realized by the translation assembly 500, which is convenient for adapting to the position of the chuck assembly 350 in the process of carrying the product 700 to be tested by the material carrying assembly 300, and adjusting the relative position of the stage support mechanism 410 in the X direction, so that the adsorption tray 450 can adsorb the product 700 to be tested on the chuck assembly 350; on the other hand, in the process of detecting the product 700 to be detected by the camera assembly 600, the translation assembly 500 may move the stage supporting mechanism 410 back and forth in the X direction according to different requirements of the product 700 to be detected, so that the camera assembly 600 may obtain image information of different angles reflected by the product 700 to be detected when moving in the X direction, which is beneficial to more comprehensively detecting the product 700 to be detected.

Referring to fig. 13 to 17, in the embodiment of the disclosure, the camera assembly 600 includes a detection gantry 610, a Y-direction movement module 620, a Z-direction movement module 630, and a plurality of camera light source modules 640, and the camera light source modules 640 correspond to the adsorption trays 450 in the rotation detection stage assembly 400 one by one, so that images of a plurality of products 700 to be detected can be obtained, and the detection efficiency is improved. The plurality of camera light modules 640 are mounted on the inspection gantry 610 through the Z-direction movement module 630 and the Y-direction movement module 620, so that the camera light modules 640 can move along the Y-direction or the Z-direction.

In the embodiment of the present disclosure, the detecting gantry 610 is disposed on the equipment platform 103, the Y-direction moving module 620 includes a Y-direction linear guide 621, a Y-direction driving mechanism and a Y-direction sliding bottom plate 623, the Y-direction linear guide 621 extends in the Y direction and is disposed on the detecting gantry 610, the Y-direction sliding bottom plate 623 is slidably disposed on the Y-direction linear guide 621, and the Y-direction sliding bottom plate 623 is connected to an output end of the Y-direction driving mechanism.

Specifically, the Y-direction drive mechanism includes a first motor 6221, a first ball screw 6222, a first screw holder 6223, and a first screw nut 6224. The first motor 6221 is connected with the detection gantry 610, the first motor 6221 is connected with the first ball screw 6222 through a coupler, the first ball screw 6222 is connected with the detection gantry 610 through a first screw support 6223, and the first screw nut 6224 is sleeved on the first ball screw 6222 and is connected with the Y-direction sliding bottom plate 623. Because the Y-direction sliding bottom plate 623 is slidably disposed on the Y-direction linear guide 621, the first ball screw 6222 is driven by the first motor 6221 to rotate relative to the inspection gantry 610, so that the first screw nut 6224 drives the Y-direction sliding bottom plate 623 to slide along the Y-direction.

Through the Y-direction movement module 620, the camera assembly 600 can reciprocate in the Y-direction, so that the camera assembly 600 can obtain image information of different angles reflected by the product 700 to be detected when moving in the Y-direction, and the detection of the product 700 to be detected can be more comprehensively facilitated.

In the embodiment of the present disclosure, the Z-direction movement module 630 includes a Z-direction linear guide 631, a Z-direction driving mechanism and a Z-direction sliding base plate 633, the Z-direction linear guide 631 is disposed on the Y-direction sliding base plate 623 along the Z-direction, the Z-direction sliding base plate 633 is slidably disposed on the Z-direction linear guide 631, and the Z-direction sliding base plate 633 is connected to an output end of the Z-direction driving mechanism.

Specifically, the Z-direction driving mechanism includes a second motor 6321, a first driving wheel 6322, a second driving wheel 6323, a driving belt 6324, a second ball screw 6325, a second screw support 6326 and a second screw nut 6327. The second motor 6321 is arranged on the Y-direction sliding bottom plate 623, an output end of the second motor 6321 is connected to the first driving wheel 6322, the second ball screw 6325 is arranged on the Y-direction sliding bottom plate 623 through the second screw support 6326, an end of the second ball screw 6325 is connected to the second driving wheel 6323, the first driving wheel 6322 is connected to the second driving wheel 6323 through the driving belt 6324, and the second screw nut 6327 is sleeved on the second ball screw 6325 and is connected to the Z-direction sliding bottom plate 633. The second motor 6321 drives the second ball screw 6325 to rotate relative to the Y-direction sliding base plate 623 through the transmission of the first driving wheel 6322, the second driving wheel 6323 and the transmission belt 6324, and the Z-direction sliding base plate 633 is slidably disposed on the Z-direction linear guide 631, so that the second screw nut 6327 can drive the Z-direction sliding base plate 633 to slide in the Z-direction.

Through the Z-direction movement module 630, the reciprocating movement of the camera assembly 600 in the Z direction can be realized, so that the camera assembly 600 can obtain image information of different angles reflected by the product 700 to be detected when moving in the Z direction, and the detection of the product 700 to be detected can be more comprehensively facilitated.

In the embodiment of the disclosure, the camera light source modules 640 correspond to the adsorption trays 450 one by one, and are disposed right above the corresponding adsorption trays 450 for acquiring images of the products 700 to be tested on the corresponding adsorption trays 450, each camera light source module 640 includes an illumination device 641, a light source adjustment mechanism 642, and a detection camera 643, each detection camera 643 includes a camera mounting plate 6431, an area-array camera 6432, and a lens 6433, each camera mounting plate 6431 is mounted on the Z-direction sliding bottom plate 633, each area-array camera 6432 is disposed on the camera mounting plate 6431 in a liftable manner, and each lens 6433 is disposed on the area-array camera 6432 for collecting reflected light and imaging the reflected light on the photosensitive chip of the area-array camera 6432.

In an embodiment of the present disclosure, the illumination device 641 comprises: the coaxial illumination mechanism 6411, the annular illumination mechanism 6412 and the bar-shaped illumination mechanism 6413, the illumination device 641 can adjust the relative position by the light source adjustment mechanism 642 to provide a suitable light source for the inspection camera 643 to illuminate the product 700 to be inspected. The light source adjustment mechanism 642 includes: the light source adjusting plate 6421 is mounted on a Z-direction sliding base plate 633, a first sliding block 6422, a first mounting seat 6423 and a second mounting seat 6424, the light source adjusting plate 6421 is provided with a first sliding way 651 along the Z direction on the light source adjusting plate 6421, the first sliding block 6422 is arranged on the first sliding way 651 in a sliding manner, and the first sliding block 6422 can slide along the first sliding way 651 and can be positioned opposite to the first sliding way 651. The coaxial illumination mechanism 6411 is disposed on the light source adjustment plate 6421, and is configured to provide a coaxial light source for the inspection camera 643 to illuminate the product 700 to be inspected, and highlight defects such as pressure damage and/or dirt on the product 700 to be inspected; the first mounting seat 6423 is connected to the first slider 6422 and is used for mounting an annular illumination mechanism 6412, the annular illumination mechanism 6412 is used for providing an annular light source for the inspection camera 643 to illuminate the product 700 to be inspected and highlighting defects such as scratches and/or depressions on the product 700 to be inspected; the second mounting seat 6424 is connected to the first slider 6422 and is configured to mount a bar-shaped illumination mechanism 6413, where the bar-shaped illumination mechanism 6413 is configured to provide a bar-shaped light source for the inspection camera 643 to illuminate the product 700 to be inspected and highlight defects such as color shading and/or bright marks on the product 700 to be inspected. According to the scheme, the relative distances between the coaxial illumination mechanism 6411, the annular illumination mechanism 6412 and the strip-shaped illumination mechanism 6413 and the detection camera 643 in the Z direction can be adjusted according to different products 700 to be detected, so that the illumination effect is further improved.

In the embodiment of the disclosure, the annular lighting mechanism 6412 and the coaxial lighting mechanism 6411 are coaxially arranged, so that the coaxial light source can penetrate through the annular light source, and the lighting effect can be better improved by superimposing the lighting light rays; the bar illumination mechanism 6413 is located outside the ring illumination mechanism 6412.

In this embodiment, when different products 700 to be tested need to be tested, the whole illuminating device 641 can slide along the first sliding channel 651, so as to adjust the distance between the illuminating device 641 and the detecting camera 643, so as to meet the lighting requirements of different products 700 to be tested. Therefore, light sources do not need to be configured for different products 700 to be detected independently, the detection operation difficulty is reduced, the detection efficiency is improved, and the detection cost is reduced.

In an embodiment of the present disclosure, the second mount 6424 includes: a mount main body 64241, a first mounting plate 64242, and a second mounting plate (not shown), the mount main body 64241 being connected to the first slider 6422; the first mounting plate 64242 is rotatably coupled to the mount base body 64241 by a first coupling shaft (not shown), the first mounting plate 64242 being relatively rotatable with respect to the mount base body 64241 about the first coupling shaft, the first coupling shaft being provided along the Y direction, the first mounting plate 64242 extending in the axial direction of the first coupling shaft, and being relatively positionable with respect to the mount base body 64241; the second mounting plate is rotatably connected with the mounting seat body 64241 through a second connecting shaft 64243, the second mounting plate can relatively rotate relative to the mounting seat body 64241 by taking the second connecting shaft 64243 as a center and can be relatively positioned with the mounting seat body 64241, the second connecting shaft 64243 is arranged in the X direction, the second mounting plate extends in the axial direction of the second connecting shaft 64243, the first mounting plate 64242 and the second mounting plate are respectively provided with a bar-shaped lighting mechanism 6413, the bar-shaped lighting mechanism 6413 arranged on the first mounting plate 64242 extends in the same direction as the first mounting plate 64242, and the bar-shaped lighting mechanism 6413 arranged on the second mounting plate extends in the same direction as the second mounting plate. Through the rotation of the bar-shaped illuminating mechanism 6413 on the first mounting plate 64242 and the bar-shaped illuminating mechanism 6413 on the second mounting plate relative to the mounting seat body 64241, the illumination angle of the bar-shaped illuminating mechanism 6413 is adjusted, and the illumination effect is improved.

In the embodiment of the present disclosure, a second slideway 652 and a third slideway 653 are arranged on the mount body 64241, the first mount plate 64242 is slidably arranged on the second slideway 652 through a first connecting shaft, and the first connecting shaft can slide along the second slideway 652 and can be positioned opposite to the second slideway 652; the second mounting plate is slidably disposed on the third slide channel 653 through a second connecting shaft 64243, and the second connecting shaft 64243 can slide along the third slide channel 653 and can be positioned opposite to the third slide channel 653. Therefore, the flexibility of the position adjustment of the bar-shaped illuminating mechanism 6413 is improved, and the improvement of the illuminating effect is facilitated.

In an embodiment of the present disclosure, the second runner 652 and the third runner 653 are both arcuate runners. Therefore, the flexibility of the position adjustment of the bar-shaped illuminating mechanism 6413 is improved, and the improvement of the illuminating effect is facilitated.

It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in the present disclosure may be executed in parallel or sequentially or in different orders, and are not limited herein as long as the desired results of the technical solutions disclosed in the present disclosure can be achieved.

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 implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. Terms referring to "first direction", "second direction", and the like, refer to a straight line direction unless otherwise specifically limited. In the description of the present disclosure, "a plurality" means two or more unless specifically limited otherwise.

The above description is only for the specific embodiments of the present disclosure, but the scope of the present disclosure is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present disclosure, and all the changes or substitutions should be covered within the scope of the present disclosure. Therefore, the protection scope of the present disclosure shall be subject to the protection scope of the claims.

Claims

1. The utility model provides a five degree of freedom automatic checkout devices of multistation which characterized in that includes:

a rack assembly (100) for carrying the entire automatic detection device;

the positioning assembly (200) is used for initially positioning a product (700) to be detected;

the rotary detection platform deck assembly (400) is used for changing the detection attitude of a product (700) to be detected during detection, and comprises an alpha rotation module, a beta rotation module and an adsorption tray (450) for adsorbing and fixing the product (700) to be detected, wherein the alpha rotation module and the beta rotation module are in linkage connection with the adsorption tray (450), so that the product (700) to be detected can rotate in the alpha direction or the beta direction;

the feeding and carrying assembly (300) is used for carrying a product (700) to be tested from the positioning assembly (200) to the corresponding adsorption tray (450) along an X direction and/or a Z direction, the Z direction is a vertical direction, and the X direction is a horizontal direction;

the camera assembly (600) comprises a detection gantry (610), a Y-direction motion module (620), a Z-direction motion module and a plurality of camera light source modules (640), wherein the plurality of camera light source modules (640) are installed on the detection gantry (610) through the Z-direction motion module and the Y-direction motion module (620) so that the camera light source modules (640) can move along the Y direction or the Z direction, and the Y direction is perpendicular to the X direction and the Z direction respectively;

the translation assembly (500) is used for driving the rotation detection carrying platform assembly (400) to move in the X direction;

and acquiring image information corresponding to the product (700) to be detected after adjusting the detection posture in at least one of five degrees of freedom in the alpha direction, the beta direction, the X direction, the Y direction and the Z direction through the camera light source module (640).

2. The multi-station five-degree-of-freedom automatic detection device according to claim 1, wherein the rotation detection stage assembly (400) comprises a stage support mechanism (410) and a stage rotation mechanism (420), the stage support mechanism (410) is disposed on the rack assembly (100), the α rotation module comprises a first driving part (431) and an α rotation shaft (432), the stage rotation mechanism (420) is rotatably disposed on the stage support mechanism (410) through the α rotation shaft (432), and the first driving part (431) can drive the stage rotation mechanism (420) to rotate along the axis of the α rotation shaft (432); the beta rotation module comprises a second driving member (441) and a beta rotation shaft (442), the adsorption tray (450) is rotatably arranged on the stage rotation mechanism (420) through the beta rotation shaft (442), and the second driving member (441) can drive the adsorption tray (450) to rotate along the axis of the beta rotation shaft (442).

3. The multi-station five-degree-of-freedom automatic detection device according to claim 2, wherein a plurality of the suction trays (450) are provided on the stage rotation mechanism (420), and each suction tray (450) is connected to the stage rotation mechanism (420) through the β -turn module.

4. The multi-station five-degree-of-freedom automatic detection device according to claim 2, wherein the rack assembly (100) comprises a foot assembly (101), a welding frame (102) and an equipment platform (103).

5. The multi-station five-degree-of-freedom automatic detection device according to claim 4, wherein the translation assembly (500) comprises: the device comprises a bottom plate (510), a translation driving mechanism (520), a sliding plate (530) and an outer shield (540), wherein the bottom plate (510) is arranged on the device platform (103), the translation driving mechanism (520) is arranged on the bottom plate (510), the sliding plate (530) is connected with the output end of the translation driving mechanism (520), the stage supporting mechanism (410) is arranged on the sliding plate (530), and the translation driving mechanism (520) is used for driving the stage supporting mechanism (410) to move along the X direction.

6. The multi-station five-degree-of-freedom automatic detection device according to claim 4, wherein the detection portal frame (610) is arranged on the equipment platform (103), the Y-direction movement module (620) comprises a Y-direction linear guide rail (621), a Y-direction driving mechanism and a Y-direction sliding bottom plate (623), the Y-direction linear guide rail (621) is arranged on the detection portal frame (610) along the Y direction, the Y-direction sliding bottom plate (623) is arranged on the Y-direction linear guide rail (621) in a sliding mode, and the Y-direction sliding bottom plate (623) is connected with an output end of the Y-direction driving mechanism.

7. The multi-station five-degree-of-freedom automatic detection device according to claim 6, wherein the Z-direction movement module comprises a Z-direction linear guide rail (631), a Z-direction driving mechanism and a Z-direction sliding bottom plate (633), the Z-direction linear guide rail (631) is arranged on the Y-direction sliding bottom plate (623) along the Z direction, the Z-direction sliding bottom plate (633) is arranged on the Z-direction linear guide rail (631) in a sliding manner, and the Z-direction sliding bottom plate (633) is connected with an output end of the Z-direction driving mechanism.

8. The multi-station five-degree-of-freedom automatic detection device according to claim 7, wherein the camera light source module (640) comprises an illumination device (641), a light source adjusting mechanism (642) and a detection camera (643), and the light source adjusting mechanism (642) is arranged on the Z-direction sliding bottom plate (633).

9. The multi-station five-degree-of-freedom automatic detection device according to claim 8, wherein the detection camera (643) comprises a camera mounting plate (6431), an area-array camera (6432) and a lens (6433), the area-array camera (6432) is arranged on the camera mounting plate (6431) in a liftable manner, and the lens (6433) is arranged on the area-array camera (6432) and is used for converging reflected light and imaging the reflected light on a photosensitive chip of the area-array camera (6432).

10. The multi-station five-degree-of-freedom automatic detection device according to claim 8, wherein the illumination apparatus (641) comprises:

a coaxial illumination mechanism (6411) for providing a coaxial light source for the inspection camera (643) to illuminate the product (700) to be inspected and highlight the pressure wounds and/or stains on the product (700) to be inspected;

an annular illumination mechanism (6412) for providing an annular light source for the inspection camera (643) to illuminate the product under test (700) and highlight scratches and/or dents on the product under test (700);

a strip illumination mechanism (6413) for providing a strip light source for the inspection camera (643) to illuminate the product under test (700) and highlight the discoloration and/or bright marks on the product under test (700).

11. The multi-station five-degree-of-freedom automatic detection device according to claim 10, wherein the annular illumination mechanism (6412) is coaxially arranged with the coaxial illumination mechanism (6411) so that the coaxial light source can be inserted into the annular light source; the strip-shaped lighting mechanism (6413) is positioned outside the annular lighting mechanism (6412).

12. The multi-station five-degree-of-freedom automatic detection device according to claim 10, wherein the light source adjusting mechanism (642) comprises: the light source adjusting device comprises a light source adjusting plate (6421), a first slider (6422), a first installation seat (6423) and a second installation seat (6424), wherein a first slide way (651) is arranged on the light source adjusting plate (6421) along the Z direction, the first slider (6422) is arranged on the first slide way (651) in a sliding mode, and the first slider (6422) can slide along the first slide way (651) and can be positioned opposite to the first slide way (651); the first mounting seat (6423) is connected with the first slider (6422) and used for mounting the annular lighting mechanism (6412); the second mounting seat (6424) is connected with the first slider (6422) and used for mounting the strip-shaped lighting mechanism (6413).

13. The multi-station five-degree-of-freedom automatic detection device according to claim 12, wherein the second mount (6424) comprises:

a mount main body (64241) connected to the first slider (6422);

a first mounting plate (64242) rotatably connected to the mount base main body (64241) by a first connecting shaft, the first mounting plate (64242) being rotatable relative to the mount base main body (64241) about the first connecting shaft, the first connecting shaft being provided in the Y direction, the first mounting plate (64242) extending in the axial direction of the first connecting shaft, and being positionable relative to the mount base main body (64241);

and a second mounting plate which is rotatably connected to the mount base body (64241) by a second connecting shaft (64243), is rotatable relative to the mount base body (64241) about the second connecting shaft (64243), and is positionable relative to the mount base body (64241), wherein the second connecting shaft (64243) extends in the X direction, the second mounting plate extends in the axial direction of the second connecting shaft (64243), the first mounting plate (64242) and the second mounting plate are provided with the bar-shaped illumination mechanism (6413), respectively, the bar-shaped illumination mechanism (6413) provided on the first mounting plate (64242) extends in the same direction as the first mounting plate (64242), and the bar-shaped illumination mechanism (6413) provided on the second mounting plate extends in the same direction as the second mounting plate.

14. The multi-station five-degree-of-freedom automatic detection device according to claim 13, wherein a second slideway (652) and a third slideway (653) are arranged on the mounting seat body (64241), the first mounting plate (64242) is slidably arranged on the second slideway (652) through the first connecting shaft, and the first connecting shaft can slide along the second slideway (652) and can be positioned opposite to the second slideway (652); the second mounting plate is arranged on the third slide way (653) in a sliding mode through the second connecting shaft (64243), and the second connecting shaft (64243) can slide along the third slide way (653) and can be located opposite to the third slide way (653).

15. The multi-station five-degree-of-freedom automatic detection device according to claim 14, wherein the second slideway (652) and the third slideway (653) are both arc slideways.

16. The multi-station five-degree-of-freedom automatic detection device according to claim 4, wherein the loading and carrying assembly (300) comprises a carrying portal frame (310), a mounting top plate (320), a carrying translation mechanism, a lifting mechanism and a sucker assembly (350) for sucking the product to be detected (700), the carrying portal frame (310) is arranged on the equipment platform (103), the mounting top plate (320) is fixed on the carrying portal frame (310), the translation mechanism and the lifting mechanism are both arranged on the mounting top plate (320), the sucker assembly (350) is arranged at an output end of the lifting mechanism, and the translation mechanism is used for driving the lifting mechanism and the sucker assembly (350) to move along the X direction integrally.

17. The multi-station five-degree-of-freedom automatic detection device according to claim 16, wherein the lifting mechanism comprises: the lifting electric cylinder (341), the electric cylinder connecting plate (345), the sucker fixing plate (346) and a plurality of guide shafts (347), wherein a piston rod of the lifting electric cylinder (341) penetrates through a through hole in the mounting top plate (320) to be connected with the electric cylinder connecting plate (345) arranged below the mounting top plate (320), the guide shafts (347) are distributed on two sides of the lifting electric cylinder (341) along the Y direction, the guide shafts (347) sequentially penetrate through the mounting top plate (320) and the electric cylinder connecting plate (345) to be connected with the sucker fixing plate (346), the sucker fixing plate (346) is used for arranging the sucker assembly (350), and the sucker fixing plate (346) is driven to lift by the lifting of the piston rod of the lifting electric cylinder (341).

18. The multi-station five-degree-of-freedom automatic detection device according to claim 17, wherein the carrying translation mechanism comprises: translation motor (331), driving screw (332), lead screw supporting seat (333), lead screw slider (334), action wheel (335), follow driving wheel (336) and hold-in range (337), translation motor (331) and lead screw supporting seat (333) set up on installation roof (320), driving screw (332) rotate and set up on lead screw supporting seat (333), just the axial of driving screw (332) with the axial direction parallel of the output shaft of translation motor (331), action wheel (335) coaxial setting is in on the output shaft of translation motor (331), follow driving wheel (336) coaxial setting is in the one end of driving screw (332), action wheel (335) with follow driving wheel (336) pass through hold-in range (337) and connect, lead screw slider (334) threaded sleeve is in on driving screw (332), lead screw slider (334) with electronic jar connecting plate (345) link to, drive the rotation of driving screw (332) through translation motor (331), and then make lead screw slider (334) produce the X to the removal, electronic jar connecting plate (345) that drives.

19. The multi-station five-degree-of-freedom automatic detection device according to claim 1, wherein the positioning assembly (200) comprises a plurality of positioning stages (201), the positioning stages (201) are provided with an X-direction fixed rib (202) and a Y-direction fixed rib (203) which are perpendicular to each other, an X-direction positioning push block (2057) and a Y-direction positioning push block (2071), and the X-direction positioning push block (2057) is pushed to be far away from or close to the X-direction fixed rib (202) through translation of a first positioning cylinder (2052); the Y-direction positioning push block (2071) is pushed to be far away from or close to the Y-direction fixed rib (203) through translation of a second positioning cylinder (2062).

20. The multi-station five-degree-of-freedom automatic detection device according to claim 19, wherein the X-direction positioning push block (2057) and the Y-direction positioning push block (2071) are connected with the piston rods of the corresponding cylinders through buffer parts.

21. The multi-station five-degree-of-freedom automatic detection device according to any one of claims 1-20, further comprising a control center apparatus for controlling the movement of the positioning assembly (200), the rotation detection stage assembly (400), the loading and carrying assembly (300), the camera assembly (600) and the translation assembly (500).