A multi-station, multi-angle visual surface defect detection system

Abstract

The invention relates to a multi-station, multi-angle visual surface defect detection system, comprising: a visual inspection station 1 for quality inspection of an upper surface and an upper edge line of a metal sealing end cover, the visual inspection station 1 comprising three CCD black-and-white industrial cameras, four light sources, and a transparent acrylic plate carrying the metal sealing end cover; a visual inspection station 2 for quality inspection of a side surface of the metal sealing end cover, the visual inspection station 2 comprising a line scanning industrial camera, a line light source, and a rotary mechanism for driving the metal sealing end cover to rotate; and a visual inspection station 3 for quality inspection of a lower surface and a lower edge line of the metal sealing end cover, the visual inspection station 3 comprising a camera and three light sources, a robot device and an image processing system, and signal output terminals of the four CCD black-and-white industrial cameras and one line scanning industrial camera respectively exchange data with signal input terminals of the image processing system.

Description

Technical Field

[0001] The invention belongs to the technical field of metal sealing end cover quality inspection, and in particular relates to a multi-station, multi-angle visual surface defect detection system. Background Art

[0002] Metal sealing end covers play a vital role in mechanical products. Due to the process level and improper operation during the manufacturing process, defects on the surface of the metal sealing end covers, such as cracks, scratches, bumps, pits, rust, collapsed corners, wear, etc., will destroy the formation of the surface oil film, resulting in poor sealing of components and quality problems. Severe cases can lead to major safety accidents. Therefore, detecting surface defects of metal seals is a necessary part of the product quality control process. However, the defect detection parts of the metal sealing end covers include the upper surface, lower surface, annular side, and upper and lower edge lines formed by the upper and lower surfaces and sides of the metal parts. Since there are many parts to be detected, most of them still rely on traditional manual naked eye detection, which has low detection efficiency and high error rate. In order to meet the requirements of fast and high-accuracy detection of large quantities of workpieces, machine vision technology can be used to replace manual vision, based on an automated defect detection platform to complete the defect detection requirements of workpieces. Most of the automatic detection platforms that replace traditional manual detection can only capture images of workpieces from a fixed angle, or can only use a single light source to extract defect features, which makes it difficult to detect defects. Figure 1 This detection platform is not comprehensive, and can meet most of the requirements for the detection of general workpieces. However, for the defect detection requirements of metal sealing end covers, if the detection of all parts cannot be guaranteed, such a device or platform is meaningless. Summary of the invention

[0003] The present invention provides a multi-station, multi-angle visual surface defect detection system to solve the technical problems existing in the known technology. The multi-station, multi-angle visual surface defect detection system can solve the defect detection of multiple parts of the outer surface of the metal seal.

[0004] The object of the present invention is to provide a multi-station, multi-angle visual surface defect detection system for quality inspection of the surface of a metal sealing end cover of a ring structure; the surface of the metal sealing end cover includes an upper surface, a side surface and a lower surface; the multi-station, multi-angle visual surface defect detection system at least comprises:

[0005] A visual inspection station 1 for quality inspection of the upper surface and upper edge of the metal sealing end cover, the visual inspection station 1 comprises three CCD black-and-white industrial cameras, four light sources, and a transparent acrylic plate carrying the metal sealing end cover, wherein: the four light sources are: a light source C placed on the upper surface of the transparent acrylic plate, the light source C is a fixed low-angle annular light source, a light source B located above the light source C, the light source B is an annular light source, a light source D located on the lower surface of the transparent acrylic plate, the light source D is a fixed background circular surface light source; a light source A located above the light source B, the light source A is a fixed circular surface light source; the three CCD black-and-white industrial cameras are camera A, camera B and camera C; the camera A is located at the center of the light source A, the camera B and camera C are located above the transparent acrylic plate, and the angle between the optical axis of the camera B and the camera C and the upper surface of the metal sealing end cover is α;

[0006] A second visual inspection station for quality inspection of the side of the metal sealing end cover, the second visual inspection station comprising a line scanning industrial camera, a line light source, and a rotary mechanism for driving the metal sealing end cover to rotate; the optical axis of the line scanning industrial camera and the light of the line light source are both perpendicular to the rotary axis of the rotary mechanism;

[0007] A visual inspection station three for quality inspection of the lower surface and lower edge of the metal sealing end cover, the visual inspection station three includes a camera D and three light sources, the camera D is a CCD black-and-white industrial camera, wherein: the three light sources are: a light source G located directly above the camera D, the light source G is a fixed circular surface light source; a light source E located directly above the light source G, the light source E is a low-angle annular light source, and a light source F located on the upper surface of the light source G, the light source F is a high-angle annular light source;

[0008] A robotic device for gripping metal sealing end caps and carrying the metal sealing end caps between three visual inspection stations;

[0009] As well as the image processing system, the signal output terminals of four CCD black-and-white industrial cameras and one line scan industrial camera respectively exchange data with the signal input terminals of the image processing system.

[0010] Furthermore, the above-mentioned visual inspection station 1 also includes a motion mechanism A for driving the light source B to move, and the motion mechanism A includes a linear guide rail A, a slider A matched with the linear guide rail A, and a mounting bracket of the light source B fixed on the slider A.

[0011] Furthermore, the above-mentioned rotating mechanism includes a servo motor, the motor shaft of the servo motor is vertically upward, a turntable is fixed on the upper end surface of the motor shaft, and a clamping claw is fixedly installed on the above-mentioned turntable.

[0012] Furthermore, the above-mentioned visual inspection station three also includes a motion mechanism G that drives the light source G to move, and the motion mechanism G includes a linear guide rail G, a slider G that cooperates with the linear guide rail G, and a light source G mounting bracket fixed on the slider G.

[0013] Furthermore, the above-mentioned multi-station, multi-angle visual surface defect detection system also includes a loading mechanism, which includes a feed conveyor line and a right-angle loading mechanism; wherein: the above-mentioned right-angle loading mechanism includes a horizontally arranged screw, a screw slider is fixedly installed on the nut of the screw, a cylinder A is fixedly installed on the screw slider, the piston rod of the cylinder A is vertically upward, a lifting plate is fixed on the upper surface of the piston rod, a cylinder B is fixedly installed on the lower surface of the above-mentioned lifting plate, the piston rod of the cylinder B is vertically downward, and a clamp for grabbing the metal sealing end cover is fixedly installed on the lower end surface of the piston rod of the above-mentioned cylinder B.

[0014] Furthermore, the above-mentioned multi-station, multi-angle visual surface defect detection system also includes a discharging conveying mechanism, which includes a qualified product discharging conveying line and an unqualified product storage table; the unqualified product storage table includes a base plate, a guide rail installed on the upper surface of the base plate, a tray moving along the guide rail, a storage station located at one end of the guide rail, and a removal station located at the other end of the guide rail; the tray includes a rectangular placement plate, four positioning rods are vertically provided on the upper surface of the placement plate, the lower end faces of the positioning rods are fixedly connected to the placement plate, the four positioning rods are distributed in a rectangular shape, and the manual handle is fixedly connected to the placement plate or the positioning rods.

[0015] Furthermore, the robot device includes a four-axis industrial robot and a fixture.

[0016] Furthermore, the multi-station, multi-angle visual surface defect detection system also includes an outer cover made of aluminum profiles.

[0017] Furthermore, the feeding conveyor line includes a belt and a motor, and a cleaning sponge is arranged below the belt.

[0018] The advantages and positive effects of the present invention are:

[0019] By adopting the above technical scheme, the robot device can automatically transport the metal sealing end cover between the three visual inspection stations. At different visual inspection stations, images of corresponding positions are collected by light sources and cameras. Finally, the collected images are intelligently analyzed by the image processing system to determine whether the metal sealing end cover is qualified. At the same time, the present invention adopts a loading mechanism and a discharging conveying mechanism, so as to realize automatic loading and unloading operations. Obviously, the present invention can realize the whole process of automatic detection, meet the automatic unloading of qualified products, and classify and store defective parts according to the type of defects. Most importantly, the detection system can realize the detection of defects on all surfaces of the inspected workpiece through a combination of multi-station and multi-angle cameras and light sources. No human intervention is required, and it can be applied to the needs of various parts surface defect detection technology fields. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is the structural diagram of the metal sealing end cover;

[0021] Figure 2 It is a structural schematic diagram of a preferred embodiment of the present invention;

[0022] Figure 3 It is a first-view structural diagram of the overall preferred embodiment of the present invention;

[0023] Figure 4 A second perspective structural diagram of the preferred embodiment of the present invention as a whole;

[0024] Figure 5 It is a structural diagram of a storage table for non-conforming parts in a preferred embodiment of the present invention;

[0025] Figure 6 for Figure 5 The structural diagram of the storage station for non-qualified parts;

[0026] Figure 7 It is a structural diagram of a right-angle feeding mechanism in a preferred embodiment of the present invention;

[0027] Figure 8 This is a structural diagram of a visual inspection station 1 in a preferred embodiment of the present invention;

[0028] Fig. 9 This is a structural diagram of the visual inspection station 2 in the preferred embodiment of the present invention;

[0029] Fig.10 This is a structural diagram of the visual inspection station three in the preferred embodiment of the present invention;

[0030] Fig.11 A structural diagram of a robot device in a preferred embodiment of the present invention;

[0031] Fig.12 The flowchart of the preferred embodiment of the present invention is as follows;

[0032] Fig.13 This is a workflow diagram of the visual inspection station 1 in the preferred embodiment of the present invention;

[0033] Fig.14 This is a workflow diagram of the second visual inspection station in the preferred embodiment of the present invention;

[0034] Fig.15 This is a workflow diagram of the visual inspection station three in the preferred embodiment of the present invention. DETAILED DESCRIPTION

[0035] In order to further understand the content, features and effects of the present invention, the following embodiments are given as examples and described in detail with reference to the accompanying drawings:

[0036] like Figure 1 and Figure 2 As shown, the technical solution of the present invention is:

[0037] A multi-station, multi-angle visual surface defect detection system is used to inspect the surface of a metal sealing end cover of a ring structure; the surface of the metal sealing end cover includes an upper surface, a side surface and a lower surface; the multi-station, multi-angle visual surface defect detection system includes:

[0038] A visual inspection station 3 for quality inspection of the upper surface and upper edge of the metal sealing end cover, the visual inspection station 1 includes three CCD black-and-white industrial cameras, four light sources, and a transparent acrylic plate 3-1 carrying the metal sealing end cover, wherein: the four light sources are: a light source C3-2 placed on the upper surface of the transparent acrylic plate, the light source C is a fixed low-angle annular light source, a light source B3-3 located above the light source C, the light source B is an annular light source, a light source D3-4 located on the lower surface of the transparent acrylic plate, the light source D is a fixed background circular surface light source; a light source A3-5 located above the light source B, the light source A is a fixed circular surface light source; three CCD black-and-white industrial cameras are camera A3-6, camera B3-7 and camera C3-8; the camera A is located at the center of the light source A, the cameras B and C are located above the transparent acrylic plate, and the angles of the optical axes of the cameras B and C with the upper surface of the metal sealing end cover are α; α is not 0;

[0039] A second visual inspection station 6 for quality inspection of the side of the metal sealing end cover, the second visual inspection station comprising a line scanning industrial camera 6-1, a line light source 6-2, and a rotary mechanism for driving the metal sealing end cover to rotate; the optical axis of the line scanning industrial camera and the light of the line light source are both perpendicular to the rotary axis of the rotary mechanism;

[0040] A visual inspection station 3 9 for quality inspection of the lower surface and lower edge of the metal sealing end cover, the visual inspection station 3 includes a camera D9-1 and three light sources, the camera D is a CCD black-and-white industrial camera, wherein: the three light sources are: a light source G9-2 located directly above the camera D, the light source G is a fixed circular surface light source; a light source E9-3 located directly above the light source G, the light source E is a low-angle ring light source, and a light source F9-4 located on the upper surface of the light source G, the light source F is a high-angle ring light source;

[0041] A robot device 4 for clamping the metal sealing end cover and carrying the metal sealing end cover between three visual inspection stations; the robot device includes a four-axis industrial robot 4-1 and a fixture 4-2;

[0042] As well as the image processing system, the signal output terminals of four CCD black-and-white industrial cameras and one line scan industrial camera respectively exchange data with the signal input terminals of the image processing system.

[0043] As a preference, see Figure 8 The above-mentioned visual inspection station 1 also includes a motion mechanism A for driving the light source B to move. The motion mechanism A includes a linear guide rail A, a slider A matched with the linear guide rail A, and a mounting bracket of the light source B fixed on the slider A.

[0044] As a preference, see Fig. 9 The above-mentioned rotating mechanism includes a servo motor 6-3, the motor shaft of the servo motor is vertically upward, a turntable 6-4 is fixed on the upper end surface of the motor shaft, and a clamping claw 6-5 is fixedly installed on the above-mentioned turntable.

[0045] As a preference, see Fig.10 The above-mentioned visual inspection station three also includes a motion mechanism G that drives the light source G to move. The motion mechanism G includes a linear guide G9-5, a slider G9-6 that cooperates with the linear guide G, and a light source G mounting bracket 9-7 fixed on the slider G.

[0046] As a preference, see Figure 7 The multi-station, multi-angle visual surface defect detection system also includes a feeding mechanism, which includes a feed conveyor line 1 and a right-angle feeding mechanism 2; wherein: the right-angle feeding mechanism includes a screw 2-1 arranged in a horizontal direction, a screw slider 2-2 is fixedly installed on the nut of the screw, a cylinder A2-3 is fixedly installed on the screw slider, the piston rod of the cylinder A is vertically upward, a lifting plate 2-4 is fixed on the upper surface of the piston rod, a cylinder B2-5 is fixedly installed on the lower surface of the lifting plate, the piston rod of the cylinder B is vertically downward, and a clamp 2-6 for grabbing the metal sealing end cover is fixedly installed on the lower end surface of the piston rod of the cylinder B.

[0047] As a preference, see Figure 5 and Figure 6 The multi-station, multi-angle visual surface defect detection system also includes a discharge conveying mechanism, which includes a qualified product discharge conveying line 5 and a non-qualified product storage table 7; the non-qualified product storage table includes a base plate 7-1, a guide rail 7-2 installed on the upper surface of the base plate, a tray 7-3 moving along the guide rail, a storage station 7-4 located at one end of the guide rail, and a removal station 7-5 located at the other end of the guide rail; the tray includes a rectangular storage plate 7-6, on the upper surface of which four positioning rods 7-7 are vertically provided, the lower end surface of the positioning rod is fixedly connected to the storage plate, the four positioning rods are distributed in a rectangular shape, and the manual handle 7-8 is fixedly connected to the storage plate or the positioning rod.

[0048] See also Figures 2 to 4 The above preferred embodiment mainly includes an outer cover, a feeding conveyor line, a qualified product discharging conveyor line, a defective part classification storage table, a right-angle loading mechanism, a visual inspection station 1, a visual inspection station 2, a visual inspection station 3, a robot and a fixture system, and an electric control cabinet.

[0049] The feeding conveyor line is used to convey the inspected workpieces into the platform. The conveyor line is driven by a motor, and the length of the conveyor line can be designed according to the number of workpieces that need to be cached.

[0050] The qualified product discharge conveyor line is used to transport qualified workpieces after inspection to the outside of the platform. The conveyor line is driven by a motor and its length can be designed according to the number of workpieces that need to be cached.

[0051] The defective parts classification storage table is used to store defective workpieces during the internal inspection process of the platform. It is divided into multiple workstations. The number of workstations can be designed according to the defect classification requirements, and can be stored separately according to different types of defects.

[0052] Visual inspection station one is used to detect defects on the upper surface, upper edge line, through hole and threaded hole of the workpiece; at the beginning of the inspection, light source B moves to one end of the linear guide A and moves out of the field of view of camera A, camera B and camera C; after the inspected workpiece is placed on the transparent plate, the inspection process of visual inspection station one begins: the combination of camera A and light source A can detect defects such as rust, bumps, and pits on the upper surface; the combination of camera A and light source 3 can detect defects such as scratches and surface bumps on the upper surface; the combination of camera B, camera C and light source 3 can detect defects such as bumps on the upper edge line; the combination of camera A and light source 4 can detect defects such as missing threads in threaded holes; after the above-mentioned inspection is completed, light source B moves to directly above the inspected workpiece, and the combination of camera A and light source B can detect defects such as outer circle protrusions and outer circle bumps. After the inspection is completed, light source B is still moved out to one end of the linear guide to facilitate the grabbing of the workpiece.

[0053] Visual inspection station 2 is used to detect defects on the annular side of the workpiece. The workpiece to be inspected is placed on the closed jaws. The jaws are opened to complete the positioning and clamping of the workpiece. The line scan camera is perpendicular to the annular side of the workpiece. At the same time, the line light source is irradiated to the part collected by the line scan camera. The jaws are installed on the turntable. The turntable is driven by the servo motor to drive the workpiece to rotate one circle. At the same time, the line scan camera completes the defect detection of the entire annular side, which can realize defects such as bumps and pits on the annular side. After the above inspection process is completed, the jaws are closed and the workpiece can be grabbed and left visual inspection station 2.

[0054] Visual inspection station 3 is used to detect defects on the lower surface and lower edge of the workpiece. At the beginning of the inspection, the light source F moves to one end of the guide rail and moves out of the field of view of the camera D. The workpiece to be inspected is moved to Fig.10 The position shown is placed in the light source E; the combination of camera D and light source E can detect defects such as surface scratches and surface bumps, and the combination of camera D and light source G can detect defects such as surface rust, surface bumps, inner and outer circle bumps, and surface pits; after the above inspection is completed, the light source F is moved to the bottom of the workpiece, and the combination of camera D and light source F can detect defects such as outer circle protrusions and outer circle bumps. After the inspection is completed, the light source F is still moved out to one end of the guide rail.

[0055] In the above embodiment, the robot adopts a four-axis SCARA industrial robot, such as Fig.11 As shown, the clamp is a three-jaw pneumatic clamp used to grab the workpiece, and the robot and the clamp system are connected to the ground through a connecting plate 5.

[0056] The electric control cabinet 8 is used for the electrical control and human-machine interface of the whole equipment. It is composed of a PLC system, a touch screen and related electrical components, and computer communication is used to realize the interaction between the electric control system and the visual system.

[0057] The computer is connected to all cameras through image acquisition cards for visual image processing;

[0058] The image processing system includes a scratch detection module, a pit detection module, a bulge detection module, a bump detection module, a rust detection module, and a thread detection module; the developed detection modules are stored in the computer, and each detection calls a different detection module or a combination of multiple modules.

[0059] The right-angle loading mechanism is used to realize the transfer of workpieces from the feeding conveyor line to the visual inspection station one. When the workpiece is transported to the platform via the feeding conveyor line and is aligned and positioned, the right-angle loading mechanism fixture is driven by a servo motor to the workpiece to grab the workpiece at a fixed point, and then moved to the docking platform of the visual inspection station one.

[0060] The robot and fixture system is used to realize the transfer of workpieces between five devices: visual inspection station one, visual inspection station two, defective parts classification storage table, visual inspection station three, and qualified product discharge conveyor line.

[0061] See also Figures 12 to 15 The working process is as follows: the workpiece is fed into the feeding conveyor line (manually or automatically), and the feeding conveyor line feeds the workpiece to be inspected into the loading point inside the outer cover. This position has a positioning and centering mechanism to position the workpiece. The right-angle loading mechanism grabs the workpiece from the feeding conveyor line at a fixed point and sends it to the visual inspection station 1 device. After the visual inspection station 1 completes the inspection process, if the workpiece has no defects, the robot and fixture system grabs it from the visual inspection station 1 and sends it to the visual inspection station 2 device. After the visual inspection station 2 completes the inspection process, if the workpiece has no defects, the robot and fixture system grabs it from the visual inspection station 2 device. The workpiece is grabbed and sent to the visual inspection station three device. After the visual inspection station three completes the inspection process, if there is no defect in the workpiece, the robot and fixture system will grab it from the visual inspection station three and send it to the qualified product discharge conveyor line, which will send the defect-free workpiece out of the platform; if the workpiece is detected to be defective by a certain visual inspection station, the robot and fixture system will grab it from the visual inspection station and send it to the corresponding position in the defective part classification storage table according to the defect type; when any station in the defective part classification storage table is full, the system will alarm, and the full station can be manually pulled out to the outside of the platform to transfer the defective parts.

[0062] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. Any simple modification, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention are within the scope of the technical solution of the present invention.

Claims

1. A multi-station, multi-angle visual surface defect detection system for quality inspection of the surface of a metal sealing end cover of a ring structure; the surface of the metal sealing end cover includes an upper surface, a side surface and a lower surface; characterized in that: The multi-station, multi-angle visual surface defect detection system at least includes: A visual inspection station 1 for quality inspection of the upper surface and upper edge of the metal sealing end cover, the visual inspection station 1 comprises three CCD black-and-white industrial cameras, four light sources, and a transparent acrylic plate carrying the metal sealing end cover, wherein: the four light sources are: a light source C placed on the upper surface of the transparent acrylic plate, the light source C is a fixed low-angle annular light source, a light source B located above the light source C, the light source B is an annular light source, a light source D located on the lower surface of the transparent acrylic plate, the light source D is a fixed background circular surface light source; a light source A located above the light source B, the light source A is a fixed circular surface light source; the three CCD black-and-white industrial cameras are camera A, camera B and camera C; the camera A is located at the center of the light source A, the camera B and camera C are located above the transparent acrylic plate, and the angle between the optical axis of the camera B and the camera C and the upper surface of the metal sealing end cover is α; A second visual inspection station for quality inspection of the side of the metal sealing end cover, the second visual inspection station comprising a line scanning industrial camera, a line light source, and a rotary mechanism for driving the metal sealing end cover to rotate; the optical axis of the line scanning industrial camera and the light of the line light source are both perpendicular to the rotary axis of the rotary mechanism; A visual inspection station three for quality inspection of the lower surface and lower edge of the metal sealing end cover, the visual inspection station three includes a camera D and three light sources, the camera D is a CCD black-and-white industrial camera, wherein: the three light sources are: a light source G located directly above the camera D, the light source G is a fixed circular surface light source; a light source E located directly above the light source G, the light source E is a low-angle annular light source, and a light source F located on the upper surface of the light source G, the light source F is a high-angle annular light source; A robotic device for gripping metal sealing end caps and carrying the metal sealing end caps between three visual inspection stations; As well as the image processing system, the signal output terminals of four CCD black-and-white industrial cameras and one line scan industrial camera respectively exchange data with the signal input terminals of the image processing system.

2. The multi-station, multi-angle visual surface defect detection system according to claim 1 is characterized in that: The above-mentioned visual inspection station 1 also includes a motion mechanism A for driving the light source B to move. The motion mechanism A includes a linear guide rail A, a slider A matched with the linear guide rail A, and a mounting bracket of the light source B fixed on the slider A.

3. The multi-station, multi-angle visual surface defect detection system according to claim 1 is characterized in that: The rotating mechanism comprises a servo motor, the motor shaft of the servo motor is vertically upward, a rotating table is fixed on the upper end surface of the motor shaft, and a clamping claw is fixedly installed on the rotating table.

4. The multi-station, multi-angle visual surface defect detection system according to claim 1 is characterized in that: The above-mentioned visual inspection station three also includes a motion mechanism G that drives the light source G to move. The motion mechanism G includes a linear guide rail G, a slider G that cooperates with the linear guide rail G, and a light source G mounting bracket fixed on the slider G.

5. The multi-station, multi-angle visual surface defect detection system according to any one of claims 1 to 4, characterized in that: The above-mentioned multi-station, multi-angle visual surface defect detection system also includes a feeding mechanism, which includes a feeding conveyor line and a right-angle feeding mechanism; wherein: the above-mentioned right-angle feeding mechanism includes a horizontally arranged screw, a screw slider is fixedly installed on the nut of the screw, a cylinder A is fixedly installed on the screw slider, the piston rod of the cylinder A is vertically upward, a lifting plate is fixed on the upper surface of the piston rod, a cylinder B is fixedly installed on the lower surface of the lifting plate, the piston rod of the cylinder B is vertically downward, and a clamp for grabbing the metal sealing end cover is fixedly installed on the lower end surface of the piston rod of the above-mentioned cylinder B.

6. The multi-station, multi-angle visual surface defect detection system according to claim 5, characterized in that: The above-mentioned multi-station, multi-angle visual surface defect detection system also includes a discharge conveying mechanism, which includes a qualified product discharge conveying line and an unqualified product storage table; the unqualified product storage table includes a base plate, a guide rail installed on the upper surface of the base plate, a tray moving along the guide rail, a storage station located at one end of the guide rail, and a removal station located at the other end of the guide rail; the tray includes a rectangular placement plate, four positioning rods are vertically provided on the upper surface of the placement plate, the lower end faces of the positioning rods are fixedly connected to the placement plate, the four positioning rods are distributed in a rectangle, and the manual handle is fixedly connected to the placement plate or the positioning rods.

7. The multi-station, multi-angle visual surface defect detection system according to claim 5, characterized in that: The robot device comprises a four-axis industrial robot and a fixture.

8. The multi-station, multi-angle visual surface defect detection system according to claim 5, characterized in that: The multi-station, multi-angle visual surface defect detection system also includes an outer cover made of aluminum profiles.

9. The multi-station, multi-angle visual surface defect detection system according to claim 5, characterized in that: The feeding conveying line comprises a belt and a motor, and a sponge for cleaning is arranged under the belt.

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