CN115980072B - Multi-station five-degree-of-freedom automatic detection device - Google Patents

Abstract

The invention provides a multi-station five-degree-of-freedom automatic detection device, which comprises a frame assembly, a positioning assembly, a rotary detection carrier assembly, a feeding and carrying assembly, a camera assembly and a translation assembly, wherein the rotary detection carrier 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 in linkage connection with the adsorption tray; the feeding and carrying assembly is used for carrying the product to be tested from the positioning assembly to the adsorption tray; the camera assembly comprises a detection portal frame, a Y-direction movement module, a Z-direction movement module and a camera light source module, wherein the camera light source module is arranged on the detection portal frame, so that the camera light source module can move along the Y direction or the Z direction; the translation assembly is used for driving the rotation detection carrier assembly to move in the X direction; and acquiring image information corresponding to the product to be detected after the detection posture is adjusted at least in one of five degrees of freedom of alpha direction, beta direction, X direction, Y direction and Z direction through the camera light source module. The method can improve the detection efficiency and reduce the detection cost.

Description

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

Technical Field

The disclosure relates to the technical field of product detection, in particular to a multi-station five-degree-of-freedom automatic detection device.

Background

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

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

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 main object of the present disclosure is to provide a multi-station five-degree-of-freedom automatic detection device, so as to at least solve the above technical problems existing in the prior art.

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

In an embodiment, the rotation detection carrier assembly includes a carrier support mechanism and a carrier rotating mechanism, the carrier support mechanism is disposed on the frame assembly, the α rotation module includes a first driving member and an α rotation shaft, the carrier rotating mechanism is rotatably disposed on the carrier support mechanism through the α rotation shaft, and the first driving member can drive the carrier rotating mechanism to rotate along an axis of the α rotation shaft; the beta rotation module comprises a second driving piece and a beta rotating shaft, the adsorption tray is rotatably arranged on the carrier 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 carrier rotating mechanism is provided with a plurality of adsorption trays, and each adsorption tray is connected with the carrier rotating mechanism through the beta 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 shield, wherein the bottom plate is arranged on an equipment 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, a carrier supporting mechanism is arranged on the sliding plate, and the translation driving mechanism is used for driving the carrier supporting mechanism to move along the X direction.

In an implementation manner, the detection portal frame 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 portal frame 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 the output end of the Y-direction driving mechanism.

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

In an embodiment, the camera light source module includes a lighting device, a light source adjusting mechanism and a detection camera, wherein the light source adjusting mechanism is disposed on the Z-direction sliding base plate.

In an embodiment, the detection camera includes a camera mounting board, an area camera and a lens, where the area camera is liftably disposed on the camera mounting board, and the lens is disposed on the area camera and is used to collect reflected light and image the reflected light on a photosensitive chip of the area camera.

In an embodiment, the lighting device comprises: the coaxial illumination mechanism, the annular illumination mechanism and the strip-shaped 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 crush injury and/or dirt on the product to be detected; the annular illumination 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 illumination 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 heterochromatic and/or bright marks on the product to be detected.

In one embodiment, the annular lighting mechanism and the coaxial lighting mechanism are coaxially arranged, so that the coaxial light source can penetrate into the annular light source; the strip-shaped lighting mechanism is positioned outside the annular lighting mechanism.

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

In an embodiment, the second mount includes: the mounting seat main body is connected with the first sliding block; the first mounting plate is rotationally connected with the mounting seat main body through a first connecting shaft, 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 plate through the second connecting axle with the mount pad main part rotates to be connected, the second mounting plate can use the second connecting axle is the center for the relative rotation of mount pad main part, and can with the mount pad main part relative positioning, the second connecting axle is prolonged X to setting up, the second mounting plate is followed the axial of second connecting axle is extended be provided with respectively on first mounting plate and the second mounting plate bar lighting mechanism, set up bar lighting mechanism on the first mounting plate with first mounting plate syntropy extends, set up bar lighting mechanism on the second mounting plate with second mounting plate syntropy extends.

In an embodiment, the mounting seat main body is provided with a second slideway and a third slideway, 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 plate is arranged on the third slideway in a sliding way through the second connecting shaft, and the second connecting shaft can slide along the third slideway and can be positioned relative to the third slideway.

In one embodiment, the second slide and the third slide are both arc-shaped slides.

In an embodiment, the feeding and carrying assembly comprises a carrying portal frame, a mounting top plate, a carrying translation mechanism, a lifting mechanism and a sucker assembly for sucking the product to be detected, wherein the carrying portal frame is arranged on the equipment platform, the mounting top plate is fixed on the carrying portal frame, the translation mechanism and the lifting mechanism are both arranged on the mounting top plate, the sucker assembly is arranged at the output end of the lifting mechanism, and the translation mechanism is used for driving the lifting mechanism and the sucker assembly to integrally move along the X direction.

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

In one embodiment, the handling translation mechanism comprises: the device comprises a translation motor, a transmission screw, a screw supporting seat, a screw sliding block, a driving wheel, a driven wheel and a synchronous belt, wherein the translation motor and the screw supporting seat are arranged on an installation top plate, the transmission screw is rotationally arranged on the screw supporting seat, the axial direction of the transmission screw is parallel to the axial direction of an output shaft of the translation motor, the driving wheel is coaxially arranged on the output shaft of the translation motor, the driven wheel is coaxially arranged at one end of the transmission screw, the driving wheel and the driven wheel are connected through the synchronous belt, the screw sliding block is in threaded sleeve with the transmission screw, the screw sliding block is connected with an electric cylinder connecting plate, and the transmission screw is driven by the translation motor to rotate so that the screw sliding block moves in X direction and drives the electric cylinder connecting plate to move in X direction.

In one embodiment, the positioning assembly comprises a plurality of positioning carriers, wherein the positioning carriers are provided with an X-direction fixed flange and a Y-direction fixed flange 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 flange through the translation of a first positioning cylinder; and the Y-direction positioning pushing 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 push block and the Y-direction positioning push block are connected with the piston rod of the corresponding cylinder through the buffer part.

In an embodiment, the device further comprises a control center device, wherein the control center device is used for controlling the movement of the positioning assembly, the rotation detection carrier assembly, the feeding and carrying assembly, the camera assembly and the translation assembly.

According to the multi-station five-degree-of-freedom automatic detection device, the camera component can be used for acquiring the image information corresponding to the product to be detected after one or more of the five degrees of freedom of alpha, beta, X, Y and Z are adjusted to detect the gesture, so that the product to be detected is subjected to comprehensive automatic detection. Because the angle adjustment of the product to be detected does not need to be manually carried out, the detection efficiency is improved, and the detection cost is reduced.

It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the disclosure, nor is it intended to be used to limit the scope of the disclosure. Other features of the present disclosure will become apparent from the following specification.

Drawings

The above, as well as additional purposes, features, and advantages of exemplary embodiments of the present disclosure will become readily apparent from the following detailed description when 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, in which:

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

FIG. 1 is a schematic diagram of a multi-station five-degree-of-freedom automatic detection device according to one embodiment of the present disclosure;

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

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

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

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

FIG. 6 is a schematic structural view of a feed 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 view of a swing detection stage assembly according to one embodiment of the present disclosure;

FIG. 9 is a schematic view of the swing sensing stage assembly of FIG. 8 in another configuration;

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

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

FIG. 12 is a schematic view of a translating assembly capped with an outer shroud according to one embodiment of the present disclosure;

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

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

FIG. 15 is a schematic view of a Z-motion module according to one embodiment of the disclosure;

FIG. 16 is a schematic diagram of a camera light source module according to one embodiment of the disclosure;

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

Wherein the above figures include the following reference numerals:

100. a frame 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 a frame; 2012. positioning a bottom plate; 2013. positioning an adapter plate; 2014. a support block; 2015. positioning a reference plate; 202. x-direction fixed flange; 203. y-direction fixed flange; 204. positioning a 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 connection; 2055; an X-direction push rod; 2056. a first rail connecting plate; 2057. x-direction positioning pushing block; 206. y-direction positioning mechanism; 2061. a second linear guide rail; 2062. a second positioning cylinder; 2063. a second floating joint; 2064. a second rail connecting plate; 2065. a support plate; 2066. a second cylinder connection; 207. a Y-direction positioning component; 2071. y-direction positioning pushing 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 loading and carrying assembly; 310. carrying a portal frame; 320. installing a top plate; 321. an avoidance groove; 331. a translation motor; 332. a transmission screw; 333. a screw rod supporting seat; 334. a screw rod sliding block; 335. a driving wheel; 336. 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 suction cup assembly;

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

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

600. a camera assembly; 610. detecting a portal frame; 620. a Y-direction movement module; 621. a Y-direction linear guide rail; 6221. a first motor; 6222. a first ball screw; 6223. a first 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 driving wheel; 6323. a second driving wheel; 6324. a transmission belt; 6325. a second ball screw; 6326. the second 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 lighting mechanism; 6413. a strip-shaped lighting mechanism; 642. a light source adjusting mechanism; 6421. a light source adjusting plate; 6422. a first slider; 6423. a first mount; 6424. a second mounting base; 64241. a mount main 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 a product.

Detailed Description

In order to make the objects, features and advantages of the present disclosure more comprehensible, the technical solutions in the embodiments of the present disclosure will be clearly described in conjunction with the accompanying drawings in the embodiments of the present disclosure, and it is apparent that the described embodiments are only some embodiments of the present disclosure, but not all embodiments. Based on the embodiments in this disclosure, all other embodiments that a person skilled in the art would obtain without making any inventive effort are within the scope of protection of this 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 mutually perpendicular, 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 device comprises a frame assembly 100, a positioning assembly 200, a rotation detection carrier assembly 400, a feeding carrying assembly 300, a camera assembly 600, a translation assembly 500 and control center equipment, wherein the control center equipment is used for controlling the movement of the positioning assembly 200, the rotation detection carrier assembly 400, the feeding carrying assembly 300, the camera assembly 600 and the translation assembly 500, and image information corresponding to a product 700 to be detected after the detection gesture is adjusted by 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 can be obtained through the camera assembly 600.

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

Referring to fig. 3-5, in the embodiment of the present disclosure, the positioning assembly 200 is used for initially positioning the product 700 to be tested, the positioning assembly 200 includes a positioning stage 201 disposed on the equipment platform 103 along the Y direction, a Y-directional positioning mechanism 206, and an X-directional positioning mechanism 205, the positioning stage 201 is a foundation and a frame of the whole device, and the Y-directional positioning mechanism 206 and the X-directional positioning mechanism 205 are respectively installed and supported by a positioning adapter plate 2013, and are respectively located at two sides of the positioning stage 201.

The positioning carrier 201 comprises a positioning frame 2011, a positioning bottom plate 2012, a positioning adapter plate 2013, a supporting block 2014 and a positioning reference plate 2015, wherein the positioning frame 2011 is located at the lowest position, the positioning bottom plate 2012 and the positioning adapter plate 2013 are sequentially installed above the positioning frame 2011, the supporting block 2014 is fixedly installed at two ends of the positioning adapter plate 2013, the positioning reference plate 2015 is installed above the supporting block 2014, a positioning supporting plate 204, an X-direction fixing flange 202 and a Y-direction fixing flange 203 are arranged on the positioning reference plate 2015, a plurality of positioning supporting plates 204 are installed in grooves on the positioning reference plate 2015 side by side along the Y direction, a plurality of Y-direction fixing flanges 203 are fixed on one side of the long side of the positioning reference plate 2015, and a plurality of X-direction fixing flanges 202 are fixed on one side of the short side of the positioning reference plate 2015. Preferably, the material of the X-direction fixing flange 202 and the Y-direction fixing flange 203 is PEEK, so that abrasion and scratch of the edges of the product to be tested can be avoided during contact with the product to be tested.

In the embodiment of the present disclosure, the X-directional positioning mechanism 205 includes a first positioning cylinder 2052, a first floating joint 2053, a first cylinder connecting piece 2054, a first linear guide rail 2051, a first guide rail connecting plate 2056, an X-directional push rod 2055, and an X-directional positioning push block 2057, where 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 with the first floating joint 2053, the first floating joint 2053 is connected with the first cylinder connecting piece 2054, the first cylinder connecting piece 2054 is fixedly connected with the X-directional push rod 2055, one end of the first guide rail connecting plate 2056 is connected with the first linear guide rail 2051, the other end is connected with the X-directional push rod 2055, and a plurality of X-directional positioning push blocks 2057 penetrate through the X-directional push rod 2055 by screws and are fixed in front of the X-directional push rod 2055.

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

In the Y-direction positioning assembly 207, a vertical plate 2072 is vertically fixed to a support plate 2065, a third linear guide 2074 is fixed to the inside of the vertical plate 2072, a first side plate 2073 and a second side plate 2078 are respectively fixed to one side of the vertical plate 2072, a guide connection block 2075 is fixedly connected to the third linear guide 2074, one end of a compression spring 2077 is fixed deep into the guide connection block 2075, the other end is fixed deep into the second side plate 2078, a positioning block connection piece 2076 is fixed to the guide connection piece, and a Y-direction positioning push block 2070 is fixed to the positioning block connection piece 2076 in parallel with a short side positioning block in a positioning stage.

Preferably, the X-direction positioning push block 2057 and the Y-direction positioning push block 2071 are made of PEEK, so that abrasion and scratch of the edge of the product to be tested can be avoided during 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 carrier 201, and the product 700 to be measured is adjusted to a set posture by means of clamping and positioning, so as to improve the reliability of accurately grabbing the product 700 to be measured by the subsequent feeding and carrying assembly 300. The X-direction positioning push block 2057 is pushed by the translation of the first positioning cylinder 2052 to be far away from or close to the X-direction fixing flange 202; the Y-directional positioning pushing block 2071 is moved away from or toward the Y-directional fixed rib 203 by translational pushing of the second positioning cylinder 2062. When the product 700 to be measured 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 measured to move towards the X-direction fixed flange 202, and make one side edge of the product 700 to be measured abut against the X-direction fixed flange 202; pushing the Y-directional positioning pushing block 2071 by the second positioning cylinder 2062 can drive the product 700 to move towards the Y-directional fixing flange 203, and make the other side edge of the product 700 to abut against the Y-directional fixing flange 203. And the relative postures of the products 700 to be tested on the positioning carriers 201 are consistent, so that the feeding and carrying assembly 300 can grasp all the products 700 to be tested uniformly in the same grabbing posture.

In the embodiment of the present disclosure, the X-direction positioning pusher 2057 and the Y-direction positioning pusher 2071 are connected to the piston rods of the corresponding cylinders through the buffer portions. Specifically, a first buffer hole is arranged 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; the second buffer hole is formed in the Y-direction positioning push block 2071, a second buffer spring (not shown in the figure) is arranged in the second buffer hole, one end of the second buffer spring is connected with the Y-direction positioning push block 2071, the other end of the second buffer spring is connected with a piston rod of the second positioning cylinder 2062, and the buffer structure can buffer the whole positioning process, so that each product 700 to be tested is ensured not to be clamped in the clamping and positioning process.

Referring to fig. 6-7, in the embodiment of the disclosure, the loading and carrying assembly 300 includes a carrying gantry 310, a mounting top plate 320, a carrying translation mechanism, a lifting mechanism, and a suction cup 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 on 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 suction cup assembly 350 is disposed at an output end of the lifting mechanism, and the carrying translation mechanism is used for driving the lifting mechanism and the suction cup assembly 350 to integrally move 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 sucker fixing plate 346 and four guide shafts 347, 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 in the electric cylinder connecting plate 345, the four linear bearing 343 runs through the electric cylinder connecting plate 345 side by side and is arranged, the guide shafts 347 penetrate through the linear bearing 343, one end of the guide shaft 347 is connected with the limiting block 344, the other end of the guide shaft 347 is connected with the sucker fixing plate 346 below, the four sucker assemblies 350 are respectively arranged on the sucker fixing plate 346 side by side through sucker fixing pieces, and the sucker assemblies 350 comprise suckers which are communicated with an external air pipe so that a product 700 to be detected can be adsorbed. The guide shaft 347, the suction cup fixing plate 346 and the suction cup assembly 350 can be driven to perform linear motion in the vertical direction by pushing and extending the piston rod in the lifting electric cylinder 341.

The carrying translation mechanism comprises: translation motor 331, transmission lead 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, be provided with fixed plate and motor mounting panel on installation roof 320, the motor mounting panel below is perforated and is passed through the fix with screw and is fixed in the fixed plate side, both keep vertical relation, translation motor 331 is fixed on the motor mounting panel, lead screw supporting seat 333 is provided with two, two lead screw supporting seats 333 are arranged at installation roof 320 long limit central line both ends, the both ends of action lead screw 332 rotate respectively and set up on different lead screw supporting seats 333, and the axial direction of action lead screw 332 is parallel with the axial direction of the output shaft of translation motor 331, action wheel 335 coaxial setting is on the output shaft of translation motor 331, follow driving wheel 336 coaxial setting is in the one end of action lead screw 332, action wheel 335 and follow driving wheel 336 pass through the hold-in range 337 and are connected, lead screw slider 334 thread bush is established on the transmission lead screw 332, lead screw slider 334 links to each other with electric cylinder connecting plate 345, be provided with linear guide 338 below installation roof 320 both sides, electric cylinder connecting plate 345 both ends and linear guide 338 sliding connection. The driving wheel 335 is driven to rotate through the rotation of the output shaft of the translation motor 331, the driven wheel 336 is driven to rotate through the synchronous belt 337, the driving screw 332 is driven to rotate, the screw slider 334 is driven to move along the X direction, the screw slider 334 is connected with the electric cylinder connecting plate 345, the two ends of the electric cylinder connecting plate 345 are connected with the linear guide 338, and then the electric cylinder connecting plate 345 can move along the linear guide 338 in the X direction under the action of the translation motor 331. The guide shaft 347 passes through the mounting top plate 320 and the electric cylinder connecting plate 345 in sequence and then is connected with the suction cup fixing plate 346, and an avoiding groove 321 for avoiding the movement of the guide shaft 347 is formed in the mounting top plate 320, and the suction cup assembly 350 is arranged on the suction cup fixing plate 346, so that the suction cup assembly 350 also synchronously performs the linear movement in the X direction when the electric cylinder connecting plate 345 performs the linear movement in the X direction.

With the above-mentioned loading and carrying assembly 300, after the adjustment of the lifting mechanism and the carrying translation mechanism, the product 700 to be tested can be carried from the positioning assembly 200 to the rotation detection carrier assembly 400.

Referring to fig. 8-9, in an embodiment of the present disclosure, a rotary inspection stage assembly 400 is used for changing an inspection posture of a product 700 to be inspected when inspecting, the rotary inspection stage assembly 400 includes a stage supporting mechanism 410, a stage rotating mechanism 420, an α rotating module, a β rotating module, and an adsorption tray 450 for adsorbing and fixing the product 700 to be inspected, the stage supporting mechanism 410 is disposed on an apparatus platform 103, and the α rotating module and the β rotating module are connected to the adsorption tray 450 in a linkage manner, so that the product 700 to be inspected can rotate in an α direction or a β direction. Specifically, the α rotation module includes a first driving member 431 and an α rotation shaft 432, and the stage rotation mechanism 420 is rotatably disposed on the stage support mechanism 410 through the α rotation shaft 432, and the first driving member 431 can drive the stage rotation mechanism 420 to rotate along the axis of the α rotation shaft 432. The β rotating module includes a second driving member 441 and a β rotating shaft 442, the adsorption tray 450 is rotatably disposed on the stage rotating mechanism 420 through the β rotating shaft 442, the second driving member 441 can drive the adsorption tray 450 to rotate along the axis of the β rotating shaft 442, the first driving member 431 and the second driving member 441 are both motors, and an output shaft of the first driving member 431 is connected with the α rotating shaft 432 through a reducer to reduce the rotational speed and increase the torque, so as to drive the stage rotating mechanism 420 to rotate; the output shaft of the second driving member 441 is connected to the β rotary shaft 442 via a speed reducer to reduce the rotation speed and increase the torque, thereby driving the suction tray 450 to rotate. Preferably, the first driving member 431 and the second driving member 441 are servo motors, and the speed reducer is a harmonic speed reducer.

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

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

The specific process of transporting the product 700 to be measured from the positioning assembly 200 to the rotary detection stage assembly 400 is as follows: the carrying translation mechanism extends the X direction to enable the sucker assembly 350 to operate to the position right above the positioning assembly 200, 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 corresponds to the product 700 to be detected adsorbed on the positioning carrier 201, the lifting electric cylinder 341 contracts the piston rod, meanwhile, the carrying translation mechanism extends the X direction again to enable the sucker assembly 350 to operate to the position right above the carrier rotating mechanism 420, then the extension of the piston rod of the lifting electric cylinder 341 enables the sucker assembly 350 to move downwards 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 base plate 510, the translation driving mechanism 520, the sliding plate 530 and the outer shield 540, wherein the base plate 510 is arranged on the equipment platform 103 along the X direction, the translation driving mechanism 520 is arranged on the base plate 510, the sliding plate 530 is connected with the output end of the translation driving mechanism 520, the carrier support mechanism 410 is arranged on the sliding plate 530, the translation driving mechanism 520 is used for driving the carrier support mechanism 410 to move along the X direction, and the outer shield 540 is arranged on the base plate 510 and used for protecting internal equipment.

Specifically, the translation driving mechanism 520 includes: translation driving motor 521, translation driving screw 522, translation screw nut 523 and screw bearing frame 524, translation driving screw 522 prolong X to rotate and set up on screw bearing frame 524, translation driving screw 522's one end passes through the coupling joint with translation driving motor 521's output shaft, and translation screw nut 523 thread bush is located on the translation driving screw 522 to translation screw nut 523 is connected with slide 530, in translation driving motor 521 pivoted in-process, makes slide 530 can prolong X to remove.

The translation assembly 500 can realize the X-direction movement of the carrier support mechanism 410, so that on one hand, the position of the sucker assembly 350 is adapted to the process of carrying the product 700 to be tested by the feeding and carrying assembly 300, and the relative position of the carrier support mechanism 410 in the X-direction is adjusted, so that the adsorption tray 450 can adsorb the product 700 to be tested on the sucker 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 can reciprocate the stage supporting mechanism 410 in the X-direction according to different requirements of the product 700 to be detected, so that the camera assembly 600 can obtain the 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. 13-17, in the embodiment of the disclosure, the camera assembly 600 includes a detection portal frame 610, a Y-direction movement module 620, a Z-direction movement module 630, and a plurality of camera light source modules 640, where the camera light source modules 640 are in one-to-one correspondence with the adsorption trays 450 in the rotary detection carrier assembly 400, so that the acquisition of images of a plurality of products 700 to be detected can be realized, and the detection efficiency is improved. The plurality of camera light source modules 640 are mounted on the inspection gantry 610 through the Z-direction movement module 630 and the Y-direction movement module 620 such that the camera light source modules 640 can move in the Y-direction or the Z-direction.

In the embodiment of the disclosure, the detection portal frame 610 is disposed on the equipment platform 103, the Y-direction movement 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 is disposed on the detection portal frame 610 along the Y-direction, 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-drive mechanism includes a first motor 6221, a first ball screw 6222, a first screw mount 6223, and a first screw nut 6224. The first motor 6221 is connected to the detection portal frame 610, the first motor 6221 is connected to the first ball screw 6222 through a coupling, the first ball screw 6222 is connected to the detection portal frame 610 through the first screw support 6223, and the first screw nut 6224 is sleeved on the first ball screw 6222 and connected to the Y-direction sliding bottom plate 623. Since the Y-direction sliding bottom plate 623 is slidably disposed on the Y-direction linear guide rail 621, the first ball screw 6222 is driven to rotate relative to the detection portal frame 610 by the first motor 6221, 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 tested when moving in the Y-direction, which is beneficial to more comprehensively detecting the product 700 to be tested.

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 bottom plate 633, the Z-direction linear guide 631 is disposed on the Y-direction sliding bottom plate 623 along the Z-direction, the Z-direction sliding bottom plate 633 is slidably disposed on the Z-direction linear guide 631, and the Z-direction sliding bottom plate 633 is connected to an output end of the Z-direction driving mechanism.

Specifically, the Z-drive mechanism includes a second motor 6321, a first drive wheel 6322, a second drive wheel 6323, a drive belt 6324, a second ball screw 6325, a second screw mount 6326, and a second screw nut 6327. The second motor 6321 is arranged on the Y-direction sliding bottom plate 623, the output end of the second motor 6321 is connected with 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, the end part of the second ball screw 6325 is connected with the second driving wheel 6323, the first driving wheel 6322 and the second driving wheel 6323 are connected through the driving belt 6324, and the second screw nut 6327 is sleeved on the second ball screw 6325 and connected with 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 bottom plate 623 through the transmission of the first transmission wheel 6322, the second transmission wheel 6323 and the transmission belt 6324, and the Z-direction sliding bottom plate 633 is slidably disposed on the Z-direction linear guide rail 631, so that the second screw nut 6327 can drive the Z-direction sliding bottom plate 633 to slide along 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 the image information of different angles reflected by the product 700 to be tested in the Z-direction movement, which is beneficial to more comprehensively detecting the product 700 to be tested.

In the embodiment of the disclosure, the camera light source modules 640 are in one-to-one correspondence with the adsorption trays 450, and are arranged right above the corresponding adsorption trays 450, and are used for obtaining images of the products 700 to be tested on the corresponding adsorption trays 450, the camera light source modules 640 comprise illumination devices 641, light source adjusting mechanisms 642 and detection cameras 643, the detection cameras 643 comprise camera mounting plates 6431, area array cameras 6432 and lenses 6433, the camera mounting plates 6431 are mounted on the Z-direction sliding bottom plates 633, the area array cameras 6432 are arranged on the camera mounting plates 6431 in a liftable mode, and the lenses 6433 are arranged on the area array cameras 6432 and are used for converging reflected light and imaging the reflected light on photosensitive chips of the area array cameras 6432.

In an embodiment of the present disclosure, the lighting device 641 includes: the coaxial illumination mechanism 6411, the annular illumination mechanism 6412 and the strip illumination mechanism 6413, and the illumination device 641 can adjust the relative position through the light source adjustment mechanism 642 to provide an appropriate light source for the detection camera 643 to illuminate the product 700 to be tested. The light source adjustment mechanism 642 includes: the light source adjusting plate 6421, the first slider 6422, the first mounting seat 6423 and the second mounting seat 6424, the light source adjusting plate 6421 is mounted on the Z-direction sliding bottom plate 633, a first slide 651 is provided on the light source adjusting plate 6421 along the Z-direction, the first slider 6422 is slidably provided on the first slide 651, and the first slider 6422 can slide along the first slide 651 and can be positioned opposite to the first slide 651. The coaxial illumination mechanism 6411 is disposed on the light source adjustment plate 6421, and is used for providing a coaxial light source for the detection camera 643 to illuminate the product 700 to be tested and to highlight the defects such as crush injury and/or dirt on the product 700 to be tested; the first mounting seat 6423 is connected with the first slider 6422 and is used for mounting an annular lighting mechanism 6412, wherein the annular lighting mechanism 6412 is used for providing an annular light source for the detection camera 643 so as to illuminate the product 700 to be detected and highlight defects such as scratches and/or depressions on the product 700 to be detected; the second mounting seat 6424 is connected to the first slider 6422 and is used for mounting a strip-shaped lighting mechanism 6413, and the strip-shaped lighting mechanism 6413 is used for providing a strip-shaped light source for the detection camera 643 to illuminate the product 700 to be detected and highlight defects such as different colors and/or bright marks on the product 700 to be detected. The above-mentioned scheme can adjust the relative distances between the coaxial lighting mechanism 6411, the annular lighting mechanism 6412 and the strip lighting mechanism 6413 and the detection camera 643 in the Z direction according to different products 700 to be detected, so as to further improve the lighting effect.

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 be arranged in the annular light source in a penetrating manner, and the illumination effect can be better improved by overlapping illumination light rays; the strip illumination mechanism 6413 is located outside the annular illumination mechanism 6412.

In this embodiment, when different products 700 to be tested need to be tested, the lighting device 641 can be slid along the first slide 651 integrally, so as to adjust the distance between the lighting device 641 and the testing camera 643 to meet the lighting requirements of the different products 700 to be tested. Therefore, the light sources are not required 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: the mount main body 64241, the first mounting plate 64242 and the second mounting plate (not shown), and the mount main body 64241 is connected to the first slider 6422; the first mounting plate 64242 is rotatably connected to the mount main body 64241 by a first connecting shaft (not shown), the first mounting plate 64242 can rotate relative to the mount main body 64241 about the first connecting shaft and can be positioned relative to the mount main body 64241, the first connecting shaft is disposed along the Y-direction, and the first mounting plate 64242 extends along the axial direction of the first connecting shaft; the second mounting plate is rotatably connected with the mounting seat main body 64241 through a second connecting shaft 64243, the second mounting plate can rotate relative to the mounting seat main body 64241 by taking the second connecting shaft 64243 as a center and can be positioned relative to the mounting seat main body 64241, the second connecting shaft 64243 is arranged along the X direction, the second mounting plate extends along the axial direction of the second connecting shaft 64243, the strip-shaped lighting mechanisms 6413 are respectively arranged on the first mounting plate 64242 and the second mounting plate, the strip-shaped lighting mechanisms 6413 arranged on the first mounting plate 64242 extend in the same direction as the first mounting plate 64242, and the strip-shaped lighting mechanisms 6413 arranged on the second mounting plate extend in the same direction as the second mounting plate. The illumination angle of the strip illumination mechanism 6413 is adjusted by the rotation of the strip illumination mechanism 6413 on the first mounting plate 64242 and the strip illumination mechanism 6413 on the second mounting plate with respect to the mount main body 64241, thereby improving the illumination effect.

In the embodiment of the disclosure, the mounting seat main body 64241 is provided with a second slide rail 652 and a third slide rail 653, the first mounting plate 64242 is slidably arranged on the second slide rail 652 through a first connecting shaft, and the first connecting shaft can slide along the second slide rail 652 and can be positioned opposite to the second slide rail 652; the second mounting plate is slidably disposed on the third slide 653 by a second connecting shaft 64243, and the second connecting shaft 64243 is slidably disposed along the third slide 653 and is positionable opposite the third slide 653. Thereby, the flexibility of the position adjustment of the strip-shaped lighting mechanism 6413 is improved, and the lighting effect is improved.

In the embodiment of the present disclosure, the second slide 652 and the third slide 653 are both arc-shaped slides. Thereby, the flexibility of the position adjustment of the strip-shaped lighting mechanism 6413 is improved, and the lighting effect is improved.

It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps recited in the present disclosure may be performed in parallel, sequentially, or in a different order, provided that the desired results of the disclosed aspects are achieved, and are not limited herein.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. Terms referring to directionality such as "first direction", "second direction", and the like, all refer to a straight line direction unless explicitly defined otherwise. In the description of the present disclosure, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.

The foregoing is merely specific embodiments of the disclosure, but the protection scope of the disclosure is not limited thereto, and any person skilled in the art can easily think about changes or substitutions within the technical scope of the disclosure, and it is intended to cover the scope of the disclosure. Therefore, the protection scope of the present disclosure shall be subject to the protection scope of the claims.

Claims (18)

1. A multistation five-degree-of-freedom automatic detection device is characterized by comprising:

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

the positioning component (200) is used for initially positioning the product (700) to be tested;

the rotary detection carrier assembly (400) is used for changing the detection posture 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 connected with the adsorption tray (450) in a linkage manner, so that the product (700) to be detected can rotate along the alpha direction or the beta direction;

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

The feeding conveying assembly (300) comprises a conveying portal frame (310), a mounting top plate (320), a conveying translation mechanism, a lifting mechanism and a sucker assembly (350) for sucking the product (700) to be detected, wherein the conveying portal frame (310) is arranged on an equipment platform (103), the mounting top plate (320) is fixed on the conveying 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 the output end of the lifting mechanism, and the translation mechanism is used for driving the lifting mechanism and the sucker assembly (350) to integrally move along the X direction;

the positioning assembly (200) comprises a plurality of positioning carriers (201), wherein the positioning carriers (201) are provided with an X-direction fixing flange (202) and a Y-direction fixing flange (203) which are mutually perpendicular, and an X-direction positioning pushing block (2057) and a Y-direction positioning pushing block (2071);

the camera assembly (600) comprises a detection portal frame (610), a Y-direction movement module (620), a Z-direction movement module and a plurality of camera light source modules (640), wherein the plurality of camera light source modules (640) are arranged on the detection portal frame (610) through the Z-direction movement module and the Y-direction movement 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 carrier assembly (400) to move in the X direction;

acquiring image information corresponding to the product (700) to be detected after at least one of five degrees of freedom of alpha, beta, X, Y and Z directions is adjusted by the camera light source module (640);

the camera light source module (640) includes a lighting device (641), a light source adjusting mechanism (642), and a detection camera (643), the lighting device (641) includes:

a coaxial illumination mechanism (6411) for providing a coaxial light source for the inspection camera (643) to illuminate the product (700) under inspection and to highlight crush injuries and/or dirt on the product (700) under inspection;

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

a strip illumination mechanism (6413) for providing a strip light source for the detection camera (643) to illuminate the product (700) to be tested and to highlight the different colors and/or bright marks on the product (700) to be tested;

The light source adjustment mechanism (642) includes: the LED lamp comprises a light source adjusting plate (6421), a first sliding block (6422), a first mounting seat (6423) and a second mounting seat (6424), wherein a first sliding way (651) is arranged on the light source adjusting plate (6421) along the Z direction, the first sliding block (6422) is arranged on the first sliding way (651) in a sliding mode, 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 lighting mechanism (6411) is arranged on the light source adjusting plate (6421), and the first mounting seat (6423) is connected with the first sliding block (6422) and used for mounting the annular lighting mechanism (6412); the second mounting seat (6424) is connected with the first sliding block (6422) and is used for mounting the strip-shaped lighting mechanism (6413);

the second mount (6424) includes:

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

a first mounting plate (64242) rotatably connected to the mount main body (64241) via a first connecting shaft;

the second mounting plate is rotatably connected with the mounting seat main body (64241) through a second connecting shaft (64243).

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 supporting mechanism (410) and a stage rotating mechanism (420), the stage supporting mechanism (410) is arranged on the frame assembly (100), the α rotation module comprises a first driving member (431) and an α rotation shaft (432), the stage rotating mechanism (420) is rotatably arranged on the stage supporting mechanism (410) through the α rotation shaft (432), and the first driving member (431) can drive the stage rotating mechanism (420) to rotate along the axis of the α rotation shaft (432); the beta rotation module comprises a second driving piece (441) and a beta rotation shaft (442), the adsorption tray (450) is rotatably arranged on the carrier rotation mechanism (420) through the beta rotation shaft (442), and the second driving piece (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 adsorption trays (450) are arranged on the carrier rotating mechanism (420), and each adsorption tray (450) is connected with the carrier rotating mechanism (420) through the beta rotation module.

4. The multi-station five-degree-of-freedom automatic detection device of claim 2, wherein the frame 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 apparatus according to claim 4, wherein the translation assembly (500) comprises: bottom plate (510), translation actuating mechanism (520), slide (530) and outer guard shield (540), bottom plate (510) set up on equipment platform (103), translation actuating mechanism (520) set up on bottom plate (510), slide (530) with the output of translation actuating mechanism (520) is connected, stage supporting mechanism (410) set up on slide (530), translation actuating mechanism (520) are used for the drive stage supporting mechanism (410) are along X to removing.

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 manner, 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 of 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 apparatus according to claim 7, wherein the light source adjustment mechanism (642) is provided on the Z-direction slip base 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 camera (6432) and a lens (6433), the area camera (6432) is arranged on the camera mounting plate (6431) in a lifting manner, and the lens (6433) is arranged on the area camera (6432) and is used for converging reflected light and imaging the reflected light on a photosensitive chip of the area camera (6432).

10. The multi-station five-degree-of-freedom automatic detection apparatus according to claim 8, wherein the annular illumination mechanism (6412) is coaxially disposed with the coaxial illumination mechanism (6411) so that the coaxial light source can be inserted into the annular light source; the strip illumination mechanism (6413) is located outside the annular illumination mechanism (6412).

11. The multi-station five-degree-of-freedom automatic detection apparatus according to claim 10, wherein,

the first mounting plate (64242) can rotate relative to the mounting seat main body (64241) by taking the first connecting shaft as a center and can be positioned relative to the mounting seat main body (64241), the first connecting shaft is arranged along the Y direction, and the first mounting plate (64242) extends along the axial direction of the first connecting shaft;

the second mounting plate can use the second connecting shaft (64243) as the center for relative rotation of mount pad main part (64241), and can with mount pad main part (64241) relative positioning, second connecting shaft (64243) are prolonged X and are set up, the second mounting plate is followed the axial extension of second connecting shaft (64243) be provided with respectively on first mounting plate (64242) and the second mounting plate bar lighting mechanism (6413), set up bar lighting mechanism (6413) on first mounting plate (64242) with first mounting plate (64242) syntropy extends, set up bar lighting mechanism (6413) on the second mounting plate with second mounting plate syntropy extends.

12. The multi-station five-degree-of-freedom automatic detection device according to claim 11, wherein a second slide (652) and a third slide (653) are provided on the mount main body (64241), the first mounting plate (64242) is slidably provided on the second slide (652) through the first connecting shaft, and the first connecting shaft can slide along the second slide (652) and can be positioned opposite to the second slide (652); the second mounting plate is slidably arranged on the third slide way (653) through the second connecting shaft (64243), and the second connecting shaft (64243) can slide along the third slide way (653) and can be positioned opposite to the third slide way (653).

13. The multi-station five-degree-of-freedom automatic detection apparatus according to claim 12, wherein the second slide (652) and the third slide (653) are arc-shaped slides.

14. The multi-station five-degree-of-freedom automatic detection device of claim 4, wherein the lifting mechanism comprises: lifting electronic jar (341), electronic jar connecting plate (345), sucking disc fixed plate (346) and a plurality of guiding axle (347), the piston rod of lifting electronic jar (341) passes through the through-hole on installation roof (320) is in with setting up electronic jar connecting plate (345) of installation roof (320) below links to each other, a plurality of guiding axle (347) are in along Y direction distribution the both sides of lifting electronic jar (341), guiding axle (347) pass in proper order behind installation roof (320) and electronic jar connecting plate (345) with sucking disc fixed plate (346) are connected, sucking disc fixed plate (346) are used for setting sucking disc subassembly (350), through the lift of the piston rod of lifting electronic jar (341) drives the lift of sucking disc fixed plate (346).

15. The multi-station five-degree-of-freedom automatic detection device of claim 14 wherein the handling translation mechanism comprises: translation motor (331), transmission lead 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) are in with lead screw supporting seat (333) setting on installation roof (320), transmission lead screw (332) rotate and set up on lead screw supporting seat (333), just the axial of transmission lead screw (332) with the axial of the output shaft of translation motor (331) is parallel, 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 transmission lead screw (332), action wheel (335) with follow driving wheel (336) are passed through hold-in range (337) and are connected, lead screw slider (334) thread bush is established on transmission lead screw (332), lead screw slider (334) with electric cylinder (345) are linked to each other, through translation motor (331) drives the rotation of transmission lead screw (332), and then make slider (334) produce the one end of transmission lead screw (332) to the connecting plate of X to the movement.

16. The multi-station five-degree-of-freedom automatic detection device according to claim 1, wherein the X-direction positioning push block (2057) is pushed away from or towards the X-direction fixed flange (202) by translation of a first positioning cylinder (2052); the Y-direction positioning pushing block (2071) is pushed away from or close to the Y-direction fixing flange (203) through the translation of the second positioning cylinder (2062).

17. The multi-station five-degree-of-freedom automatic detection device of claim 16, wherein the X-direction positioning push block (2057) and the Y-direction positioning push block (2071) are connected with piston rods of corresponding cylinders through buffer parts.

18. The multi-station five degree-of-freedom automatic inspection apparatus of any of claims 1-17 further comprising a control center device for controlling movement of the positioning assembly (200), the rotation inspection stage assembly (400), the loading handling assembly (300), the camera assembly (600) and the translation assembly (500).