A five-axis intelligent verification device

Abstract

The present invention discloses a five-axis intelligent verification device for customs clearance verification, including a first movable shaft that can move up and down, a second movable shaft that is connected to the first movable shaft through a first connecting piece on the first movable shaft and can rotate freely, a third movable shaft that can move horizontally through a second connecting piece on the second movable shaft, a third connecting piece is provided at the end of the third movable shaft away from the output end of the second power device, a power device of the fourth movable shaft is located on the third connecting piece, the output end of the fourth power device is connected to a fourth connecting piece, the end of the fourth connecting piece away from the output end of the fourth power device is connected to the fifth movable shaft, and a verification device connected to the fifth movable shaft. The relevant technical parameters of the mechanical arm of this technical solution are that the rotating arm span is at a variable rotating radius, the up and down height travel is a linear motion travel, and the existence of the telescopic arm increases the rotating radius of the mechanical arm, so that information can be verified in a larger range.

Description

Technical Field

[0001] The invention relates to a verification device, more specifically to a mechanical arm of a verification device for verifying passengers during vehicle clearance. Background Art

[0002] Vehicle clearance verification is a rather cumbersome task, which requires both safety and efficiency. While increasing the number of verification methods, how to solve the problem of passengers being able to pass through customs through facial recognition without getting off the vehicle, allowing passengers to experience the convenience of customs clearance, solving the problem of false face detection, and at the same time improving the safety and comfort of verification, ensuring safety and efficiency is an urgent issue to be resolved. Summary of the invention

[0003] In view of the above technical problems, the present invention provides a five-axis intelligent verification device for customs clearance verification, and its specific technical solution is as follows.

[0004] A five-axis intelligent verification device for customs clearance verification comprises: a first movable axis that can move up and down, a second movable axis that is connected to the first movable axis through a first connecting piece on the first movable axis and can rotate freely, a third movable axis that can move horizontally through a second connecting piece on the second movable axis, a third connecting piece is provided at an end of the third movable axis away from an output end of a second power device, a power device of a fourth movable axis is located on the third connecting piece, an output end of the fourth power device is connected to a fourth connecting piece, an end of the fourth connecting piece away from the output end of the fourth power device is connected to a fifth movable axis, and a verification device connected to the fifth movable axis.

[0005] A five-axis intelligent verification device is provided, wherein the first movable axis comprises a vertical column, a first connecting member is fixed on a slide rail of the column, and a second power device is fixed on the first connecting member.

[0006] A five-axis intelligent verification device is provided, wherein a first power device is provided at the lower part of the vertical column, and a power transmission device for transmitting the output power of the first power device to the first connecting member is provided on the vertical column.

[0007] A five-axis intelligent verification device is provided, wherein the power transmission device includes a vertical rod-shaped body and rolling wheels respectively located at the upper and lower parts of the vertical column, and a conveyor belt respectively passing around the two rollers at the top and bottom of the vertical column and fixed at the upper and lower ends of a first connecting member, wherein the vertical rod-shaped body is located in a constraint arc-shaped body on the side of the first connecting member away from the first power device.

[0008] A five-axis intelligent verification device is provided, wherein the output end of the second power device is connected to a second connecting member, and the second connecting member is a long strip block.

[0009] Provide a five-axis intelligent verification device. One end of the second connecting piece is fixed with a third power device. The output end of the third power device is connected with a screw power transmission device. The inner side of the second connecting piece is provided with a first guide rail and a second guide rail. The first guide rail is connected with a first slider assembly, and the second guide rail is connected with a second slider assembly. Above the two guide rails, there is a moving part, and the moving part can move above the second connection along the direction of the guide rail.

[0010] Provide a five-axis intelligent verification device. The first guide rail is connected with a first slider assembly. The first slider assembly is fixed on the inner side wall of the first side wall of the second connecting piece, and the first guide rail is fixed on the outer side wall of the moving part. The second guide rail is connected with a second slider assembly. The second slider assembly is fixed on the outer side wall of the second side wall of the moving part, and the second slide rail is fixed on the second inner side wall of the second connecting piece.

[0011] Provide a five-axis intelligent verification device. On the upper part of the moving part, on the side close to the third power device, there is a fitting induction device that cooperates with the U-shaped body on the side wall of the second connecting piece where the first guide rail is fixed.

[0012] Provide a five-axis intelligent verification device. The fourth power device is fixed on the third connecting piece that is connected to the third moving axis at one end of the second connecting piece, which is far from the third power device. At the output end of the fourth power device, a fourth connecting piece is connected to the lower part of the third connecting piece.

[0013] Provide a five-axis intelligent verification device. Two downward-facing U-shaped bodies are fixed on the lower surface of the third connecting piece, and a needle-shaped induction piece that cooperates with the downward-facing U-shaped body is fixed on the upper surface of the fourth connecting piece.

[0014] Provide a five-axis intelligent verification device. The output end of the fourth power device is connected to one end of the fourth connecting piece, and the other end of the fourth connecting piece is connected to the output end of the fifth power device through a movable connecting piece. The movable connecting piece is fixedly connected through a fixing hole on the fourth connecting piece.

[0015] Provide a five-axis intelligent verification device. A vertical fixing device is fixed on the end of the fourth connecting piece that is far from the fourth power device, and the fifth power device is connected to the vertical fixing device through a fastener.

[0016] Provide a five-axis intelligent verification device. Two U-shaped bodies for detection are fixed on the inner side wall of the vertical fixing device. A needle-shaped induction device is provided on the upper part of the movable connecting piece. When the needle-shaped body rotates along with the stepped cylindrical body, it can pass through the gap in the middle of the U-shaped body.

[0017] A five-axis intelligent verification device is provided, wherein the output part of the fifth power device is connected to a rotating connection member, and the rotating connection member includes a shell fixed on the fourth connection member, a hollow rotating core located in the shell, and a stepped columnar body located inside the rotating core, transmitting power and connecting to a connecting mechanism of a spherical verification device.

[0018] A five-axis intelligent verification device is provided, wherein a plurality of connection holes are arranged at the lower part of the stepped columnar body.

[0019] A five-axis intelligent verification device is provided, wherein the fixing holes at the bottom of the stepped cylindrical body, the fixing holes on the fourth connecting member and the connecting holes at the top of the connecting mechanism of the spherical verification device correspond one to one.

[0020] A five-axis intelligent verification device is provided, wherein the connection mechanism of the sphere verification device is a triangular connector, and a through hole is provided on the side of the right-angle portion of the connector.

[0021] A five-axis intelligent verification device is provided, wherein an elliptical recessed portion is provided at the connection between the connector and the chamfered portion.

[0022] A five-axis intelligent verification device is provided, wherein a clamping portion is provided in the middle of the through hole of the elliptical recessed portion and the direct portion.

[0023] A five-axis intelligent verification device is provided, wherein the clamping parts are respectively close to the perforation positions on both sides.

[0024] A five-axis intelligent verification device is provided. The verification device comprises a connecting part and a human-machine interaction part. The connecting part and the human-machine interaction part are connected to form a spherical body through an annular connecting piece. The human-machine interaction part comprises an operating platform formed by an upper and lower cutting part and a horizontal cutting part. The control part comprises a display device, a voice interaction device, an image acquisition device, a fingerprint acquisition device, a sound playback device, a positioning device, and a fill light device. The display device is located on the upper and lower cutting parts, the image acquisition device is located on the upper part of the display device, fill light devices are provided on both sides of the image acquisition device, the fingerprint acquisition device is located on the horizontal cutting part, and the sound playback device is located at the lower part of the spherical verification device.

[0025] A five-axis intelligent verification device is provided, wherein the output part of the third power device is connected to a power movable connecting piece, and the movable connecting piece includes a shell fixed on the second connecting piece, a hollow rotating core located in the shell, and a stepped columnar body located inside the rotating core, transmitting power and connecting to a connecting mechanism of a spherical verification device.

[0026] Provided is a five-axis intelligent verification device, wherein the verification device is fixed on a five-axis mechanical arm through a connector.

[0027] A five-axis intelligent verification device is provided, wherein the verification device is fixed at the lower part of the fourth connecting piece of the five-axis mechanical arm.

[0028] Provided is a five-axis intelligent verification device, wherein a plurality of connection holes for connecting a control console and a connection part are provided on the circumference of the annular connection piece.

[0029] A five-axis intelligent verification device is provided, wherein a plurality of positioning pins are arranged on the circumference of the annular connecting piece.

[0030] A five-axis intelligent verification device is provided, wherein a barrier protrusion is provided on the circumference of the annular connecting piece.

[0031] A five-axis intelligent verification device is provided, wherein the connection holes at the circumference of the annular connecting piece are located on the inner side wall of the circumference and on a platform protruding toward the center of the circle.

[0032] The present invention has the following beneficial effects: according to the project requirements and the relevant technical parameters of the mechanical arm, the arm span can be determined to have a variable rotation radius of 600-900mm (including the human-machine interaction platform), a linear motion stroke of 800mm in height, and a fastest action time of 3 seconds for the full stroke. It can be fixed on the safety island. The existence of the retractable arm increases the rotation radius of the mechanical arm, and the passenger information can be verified in a larger range. The power transmission uses a screw rod, and the power transmission is stable, which avoids the vibration of the mechanical arm caused by the heavy object at the tail during the movement of the mechanical arm, which increases the verification time and reduces the verification accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 It is a schematic diagram of the overall structure of the five-axis robotic arm of the technical solution of the present invention.

[0034] Figure 2-1 This is a schematic diagram of the first and second moving axis structures of the mechanical arm of the technical solution of the present invention Figure 1 .

[0035] Figure 2-2 This is a schematic diagram 2 of the structure of the first and second moving axes of the robot arm of the technical solution of the present invention.

[0036] Figure 3-1 It is a schematic diagram of the structure of the third, fourth and fifth moving axes of the mechanical arm of the technical solution of the present invention.

[0037] Figure 3-2 This is a schematic diagram of the structure of the third moving axis transmission component of the robot arm of the present invention. Figure 1 .

[0038] Figure 3-3 This is a schematic diagram 2 of the structure of the third movable axis transmission assembly of the robot arm of the present invention.

[0039] Figure 4It is a schematic diagram of the structure of the fourth moving axis of the robotic arm of the technical solution of the present invention.

[0040] Figure 5 It is a schematic diagram of the stepped columnar structure of the technical solution of the present invention.

[0041] Figure 6 It is a schematic diagram of the structural decomposition of the rotating connector of the technical solution of the present invention.

[0042] Figure 7 It is a schematic diagram of the structure of the connecting piece of the spherical verification device according to the technical solution of the present invention.

[0043] Figure 8 It is a schematic diagram of the structure of the spherical verification device of the technical solution of the present invention.

[0044] Fig. 9 It is a schematic diagram of the decomposed structure of the spherical verification device of the technical solution of the present invention.

[0045] Fig.10 It is a schematic diagram of the annular connecting piece of the spherical verification device structure of the technical solution of the present invention. DETAILED DESCRIPTION

[0046] Combine the following Figure 1-Figure 10 The present invention is described in detail.

[0047] A five-axis robot arm for customs clearance verification includes a first movable axis 100 that can move up and down, a second movable axis 200 that is connected to the first movable axis through a first connecting member 110 on the first movable axis and can rotate freely, and is connected to a third movable axis 300 that can move horizontally through a second connecting member 210 on the second movable axis. A third connecting member 310 is provided at the end of the third movable axis away from the output end of a second power device. The power device of a fourth movable axis 400 is located on the third connecting member, the output end of the fourth power device is connected to a fourth connecting member 410, and the end of the fourth connecting member away from the output end of the fourth power device is connected to a fifth movable axis 500.

[0048] The first movable shaft 100 includes a vertical supporting column 120, a first connecting member 110 is fixed on the vertical column 120, a first power device 130 is located at the lower part of the vertical column 120, the output end of the power device 130 faces upward, two chains are provided on both sides of the vertical column 120, one end of the chain is connected to the first connecting member 110 respectively, a connecting plate 111 is fixed on the first connecting member 110, and a power transmission device 140 for transmitting the output power of the first power device to the first connecting member is provided on the vertical column, including a vertical supporting column 120, a first connecting member 1 ... A ball screw 141 (not shown in the drawings) and a rolling wheel 1421 and a rolling wheel 1422 are respectively located at the upper part and the lower part of the vertical column, and a conveyor belt 143 that respectively passes through the two rollers at the top and bottom of the vertical column and is respectively fixed at the upper and lower ends of the first connecting member. The vertical rod-shaped body is located in a constraint arc 144 on the first connecting member, and the constraint arc is located on the side of the first connecting member away from the second power device. The connecting plate 111 moves up and down under the joint action of the vertical ball screw 141 and the conveyor belt 143 driven by the power device 130.

[0049] The second movable shaft 200 includes a second power device 210 and a second connecting member 220. In this embodiment, the second connecting member 220 is an elongated block. Both sides of the second connecting member 220 have upwardly protruding edges. The second power device is fixed to the connecting plate 111 through a fixing member 211. The motor output end of the power device faces downward. The output end of the power device 210 is fixedly connected to the bottom of one end of the elongated block structure of the second connecting member. The second connecting member 220 can rotate at a certain angle under the rotation of the power device. A sensing device is provided below the fixing member 211. This sensing device can control the rotation of the second rotating shaft within a certain range.

[0050] The third moving shaft 300 includes a third power device 310 fixed to one end of the second connecting member 220. A screw power transmission device 311 is connected to the output end of the third power device. Two guide rails 312 are provided inside the second connecting member, namely a first guide rail 3121 and a second guide rail 3122. The two guide rails are respectively connected to slider assemblies 313. The first guide rail is connected to a first slider assembly 3131, and the second guide rail is connected to a second slider assembly 3132. Above the two guide rails is a moving member 314, and the moving member 314 can move above the second connecting member along the direction of the guide rails. The first guide rail 3121 is connected to a first slider assembly 3131. The first slider assembly 3131 is fixed to the inner side wall 2211 of the first side wall of the second connecting member, and the first guide rail is fixed to the outer side wall 3141 of the moving member. The second guide rail is connected to a second slider assembly 3132. The second slider assembly is fixed to the outer side wall 3142 of the second side wall of the moving member, and the second guide rail is fixed to the second inner side wall 2221 of the second connecting member. This connection method can be called "positive and negative connection". Of course, the connection method of the third moving shaft guide rail and the slider can also be designed as: both guide rails are fixed to the inner side walls on both sides of the second connecting member, and the sliders are fixed to the outer side wall of the moving member 314, or both guide rails are fixed to the outer side wall of the moving member 314, and the two sliders are fixed to the inner side wall of the second connecting member, which can also achieve the purpose of the third shaft telescoping. However, the effect that can be achieved by this "positive and negative connection" technical solution is that when the moving member 314 is not telescoped, if a force is applied to the end of the robotic arm, there will be two force support points on the third moving shaft, and these two force support points are in a diagonal form. Compared with the technical solution where both guide rails are fixed to the second connecting member and the sliders are fixed to the moving member, or the technical solution where both guide rails are fixed to the outer side wall of the moving member 314 and the sliders are fixed to the inner side wall of the second connecting member, this solution can withstand greater external forces when not telescoped and has a better value in resisting violent use. This is mainly because a fingerprint verification function is provided on the verification device at the end of the robotic arm, and this device needs to directly come into physical contact with the person being verified, so it is inevitable that some people will use the device violently. Therefore, the safety performance of the device is better. On the upper part of the moving member, on the side close to the third power device, there is a cooperating induction device with the C-shaped body on the side wall of the second connecting member where the second guide rail is fixed. One end of the moving member 314 away from the third power device 310 is provided with a third connecting member 320. The third connecting member 320 is arc-shaped, and a plurality of fixing holes are provided at the bottom of the connecting member 320. At the end of the second connecting member away from the third power device, two lower parts of the two side walls of the moving member 314 can be provided with two rolling wheels, and these rolling wheels can reduce the resistance when the moving member 314 telescopes and can also play a certain supporting role.

[0051] The fourth moving shaft 400 includes a fourth power device 410. The fourth power device is fixed on the fixing hole of the third connecting member, and the output end of the fourth power device faces downward. Below the third connecting member, the output end of the fourth power device is connected to one end of a fourth connecting member 420 through a rotating movable member 430. Two downward-facing U-shaped bodies 441 are fixed on the lower surface of the third connecting member, and a needle-shaped sensing member 442 that cooperates with the downward-facing U-shaped body is fixed on the upper surface of the fourth connecting member.

[0052] The fifth moving shaft 500 includes a fifth power device 510 and a movable connecting member 530 fixed on the upper part of the connecting member 420 between the power device 510 and the connecting member 420. The output end of the power device 510 faces downward and is connected to the movable connecting member 530. A movable connecting member 530 is fixed on the lower part of the connecting member 420. The movable connecting member 530 drives the connecting member 520 to rotate through the power device 510, thereby controlling the rotation of the verification device on the connecting member.

[0053] The output part of the fifth power device is connected to the power movable connecting member 530. The movable connecting member 530 includes a housing 531 fixed on the fourth connecting member, a hollow rotating core 532 located inside the housing, and a stepped column 533 located inside the rotating core for transmitting power and connecting to the spherical verification device connecting mechanism. A plurality of connecting holes 5331 are provided at the lower part of the stepped column. An induction device 534 is provided at the upper part of the movable connecting member. The induction device 534 includes a needle-shaped body 5341 fixed on the stepped column and a U-shaped body 5342 located on the vertical side wall of the upper part of the fourth connecting member. The needle-shaped body can pass through the gap in the middle of the U-shaped body when rotating along with the stepped column. The fixing holes 5331 at the bottom of the stepped column correspond to the connecting holes 525 at the top of the spherical verification device connecting mechanism one by one. The spherical verification device connecting mechanism is a triangular connecting body. A through hole 521 is provided on the side surface of the right-angle part of the connecting body. An oval recess 532 is provided at the connection part between the connecting body and the beveled part. A clamping part 533 is provided between the oval recess and the through hole of the right-angle part. The clamping part is close to the perforation positions on both sides respectively.

[0054] The spherical verification device 600 includes a connecting part and a human-computer interaction part. The connecting part 610 and the human-computer interaction part 620 are connected through a connecting member to form a spherical body.

[0055] The human-machine interaction unit 620 includes a display device 621, a voice interaction device 622, an image acquisition device 623, a fingerprint acquisition device 624, a sound playback device 625, a positioning device 626, and a fill light device. The human-machine interaction unit 620 includes an operation platform formed by an upper and lower cutting portion and a horizontal cutting portion. For the convenience of operation and the operation platform being at an angle greater than a right angle, the display device 621 is located on the plane of the upper and lower cutting portions, and the voice interaction device 622 is located on both sides of the image acquisition device. In this embodiment, there are two voice interaction devices, which are respectively located at the lower part of both sides of the display device. The image acquisition device 623 is located at the upper part of the display device. Fill light devices are provided on both sides of the image acquisition device. A rectangular recessed portion is provided in the middle of the horizontal cutting portion and is recessed in the lower part of the plane. The fingerprint acquisition device 624 is located in the recessed portion. An arc-shaped cutting surface is provided at the lower part of the sphere near the front, and the sound playback device 625 is located on the arc-shaped cutting surface. A positioning device is provided on each side of the sound playback device 625. In this embodiment, the positioning device is an ultrasonic sensor. On both sides of the sphere, a connecting portion 610 and a connecting portion of the human-computer interaction platform 620 are respectively provided with an ambient three-color light guide lamp.

[0056] The annular connector 630 has a plurality of connection holes 631 for connecting the operating platform and the connection part on the circumference of the annular connector 630. The connection holes are located on the inner side wall of the circumference and on the platform 632 protruding toward the center of the circle. The annular connector has a plurality of positioning pins 633 on the circumference. The positioning pins protrude symmetrically on both sides and extend toward the connection part and the human-machine interaction part respectively. The positioning pins can position the connection part and the human-machine interaction part at different fixed positions. The annular connector has a barrier protrusion 634 on the circumference.

[0057] The above embodiments are preferred embodiments of the present invention. The present invention is not limited to the above embodiments. For ordinary technicians in this field, any obvious changes made without departing from the technical principles of the present invention are within the concept of the present invention and the protection scope of the attached claims.

Claims

1. A five-axis intelligent verification device, characterized in that include: A first movable shaft that can move up and down, a second movable shaft that is connected to the first movable shaft through a first connecting piece on the first movable shaft and can rotate freely, is connected to a third movable shaft that can move horizontally through a second connecting piece on the second movable shaft, a third connecting piece is provided at an end of the third movable shaft away from an output end of the second power device, a power device of the fourth movable shaft is located on the third connecting piece, a fourth connecting piece is connected to an output end of the fourth power device, an end of the fourth connecting piece away from the output end of the fourth power device is connected to a fifth movable shaft, and a ball verification device connected to the fifth movable shaft; the first movable shaft comprises a vertical column, the first connecting piece is fixed on a slide rail of the column, the second power device is fixed on the first connecting piece; the vertical column A first power device is provided at the lower part, and a power transmission device for transmitting the output power of the first power device to the first connecting member is provided on the vertical column; the power transmission device includes a vertical rod-shaped body and rolling wheels respectively located at the upper and lower parts of the vertical column, and a conveyor belt respectively passing through the two rollers at the top and bottom of the vertical column and fixed at the upper and lower ends of the first connecting member, the vertical rod-shaped body is located in the arc-shaped constraint body on the first connecting member away from the first power device; the output end of the second power device is connected to the second connecting member, and the second connecting member is a long strip block; a third power device is fixed to one end of the second connecting member, and the output end of the third power device is connected to a wire rod power transmission device, and the second connecting member A first guide rail and a second guide rail are provided on the inner side of the first guide rail, the first guide rail is connected to a first slider assembly, the second guide rail is connected to the second slider assembly, a moving member is provided above the two guide rails, and the moving member can move above the second connecting member along the guide rail direction; the first guide rail is connected to the first slider assembly, the first slider assembly is fixed to the inner side wall of the first side wall of the second connecting member, and the first guide rail is fixed to the outer side wall of the moving member; the second guide rail is connected to the second slider assembly, the second slider assembly is fixed to the outer side wall of the second side wall of the moving member, and the second guide rail is fixed to the second inner side wall of the second connecting member; the fourth power device is fixed to the third connecting member on the second connecting member, away from the end of the third power device and connected to the third moving shaft, The output end of the force device and the lower part of the third connecting member are connected with a fourth connecting member; the output end of the fourth power device is connected to one end of the fourth connecting member, and the other end of the fourth connecting member is connected to the output end of the fifth power device through a movable connecting member, and the movable connecting member is fixedly connected through a fixing hole on the fourth connecting member; a vertical fixing device is fixed on the end of the fourth connecting member away from the fourth power device, and the fifth power device is connected to the vertical fixing device through a fastener; the output part of the fifth power device is connected to the movable connecting member, and the movable connecting member includes a shell fixed on the fourth connecting member, a hollow rotating core located in the shell, and a stepped columnar body located inside the rotating core, which transmits power and connects to the connecting mechanism of the spherical verification device.

2. The five-axis intelligent verification device according to claim 1, characterized in that: On the upper part of the moving part, on one side close to the third power device, there is an induction device that cooperates with the C-shaped body on the side wall of the second guide rail fixed on the second connecting piece.

3. The five-axis intelligent verification device according to claim 2, characterized in that: On the lower surface of the third connecting piece, two downward-facing C-shaped bodies are fixed, and on the upper surface of the fourth connecting piece, a needle-shaped induction piece that cooperates with the downward-facing C-shaped body is fixed.

4. The five-axis intelligent verification device according to claim 3, characterized in that: On the inner side wall of the vertical fixing device, two C-shaped bodies for detection are fixed. On the upper part of the movable connecting piece, there is a needle-shaped induction device. When the needle-shaped induction device rotates along with the stepped columnar body, it can pass through the gap in the middle of the C-shaped body.

5. The five-axis intelligent verification device according to claim 4, characterized in that: Multiple connecting holes are provided at the lower part of the stepped columnar body.

6. The five-axis intelligent verification device according to claim 5, characterized in that: The fixing holes at the bottom of the stepped columnar body, the fixing holes on the fourth connecting piece, and the connecting holes at the top of the ball verification device connection mechanism correspond to each other one by one.

7. The five-axis intelligent verification device according to claim 6, characterized in that: The ball verification device connection mechanism is a triangular connecting body, and a through hole is provided on the side surface of the right-angle part of the connecting body.

8. The five-axis intelligent verification device according to claim 7, characterized in that: An oval concave part is provided at the connection part between the connecting body and the beveled part.

9. The five-axis intelligent verification device according to claim 8, characterized in that: A clamping part is provided between the oval concave part and the through hole of the right-angle part.

10. The five-axis intelligent verification device according to claim 9, characterized in that: The clamping part is respectively close to the perforation positions on both sides.

11. The five-axis intelligent verification device according to any one of claims 7 to 10, characterized in that: The ball verification device includes a connecting part and a human-computer interaction part. The connecting part and the human-computer interaction part are connected by an annular connecting piece to form a spherical body. The human-computer interaction part includes an operation platform formed by an upper and lower cutting part and a horizontal cutting part. The operation platform includes a display device, a voice interaction device, an image acquisition device, a fingerprint acquisition device, a sound playback device, a positioning device, a supplementary light device. The display device is located on the upper and lower cutting part, the image acquisition device is located above the display device, supplementary light devices are provided on both sides of the image acquisition device, the fingerprint acquisition device is located on the horizontal cutting part, and the sound playback device is located at the lower part of the ball verification device.

12. The five-axis intelligent verification device according to claim 11, characterized in that: The ball verification device is fixed on the five-axis robotic arm through the connecting body.

13. The five-axis intelligent verification device according to claim 12, characterized in that: The ball verification device is fixed at the lower part of the fourth connecting piece of the five-axis robotic arm.

14. The five-axis intelligent verification device according to claim 13, characterized in that: Multiple connecting holes for connecting the operation platform and the connecting part are provided at the circumference of the annular connecting piece.

15. The five-axis intelligent verification device according to claim 14, characterized in that: Multiple positioning pins are provided at the circumference of the annular connecting piece.

16. The five-axis intelligent verification device according to claim 15, characterized in that: Partition protrusions are provided at the circumference of the annular connecting piece.

17. The five-axis intelligent verification device according to claim 16, characterized in that: The connecting holes at the circumference of the annular connecting piece are located on the platform that protrudes towards the center of the circle on the inner side wall of the circumference.

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