Piezoelectric ceramic automatic detection device and detection method

Abstract

The present application relates to piezoelectric ceramic automation detection technical field, specifically to a kind of piezoelectric ceramic automation detection equipment and detection method, including conveying assembly, conveying assembly side is provided with six-axis mechanical arm, the side of six-axis mechanical arm is provided with high voltage detection device and ultrasonic cleaning device, the side of six-axis mechanical arm is provided with visual detection device, conveying assembly top is provided with laser marking device and code reading camera;High voltage detection device includes electrode block, ground electrode being set on the top of electrode block, ground electrode moving mechanism for driving ground electrode to move up and down.The present application is realized to piezoelectric ceramic component complete automation detection by the setting of conveying assembly, six-axis mechanical arm, high voltage detection device, ultrasonic cleaning device, visual detection device, laser marking device, code reading camera, and layout is reasonable, easy to operate.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of piezoelectric ceramic automatic detection, and particularly relates to a piezoelectric ceramic automatic detection equipment and a detection method. BACKGROUND

[0002] Piezoelectric ceramics are information functional ceramic materials capable of converting mechanical energy and electrical energy into each other. In addition to piezoelectricity, piezoelectric ceramics also have dielectricity, elasticity, etc., and have been widely used in medical imaging, acoustic sensors, acoustic transducers, ultrasonic motors, etc. After the piezoelectric ceramics are manufactured, they need to be subjected to quality detection. In the application of piezoelectric ceramic element pressure resistance and size appearance detection, the performance and quality problems of ceramic elements often need to be analyzed according to manual experience and post-processing statistics. The conventional detection equipment can only perform single detection, cannot realize complete automation of various detections, and still needs manual participation. This way is not conducive to the consistency evaluation and control of piezoelectric ceramic element quality in actual production application, and has low detection efficiency and high work intensity of workers.

[0003] Patent application No. 202110403125.9 discloses a piezoelectric ceramic sheet conductivity detection method and a detection device thereof, which comprises a feeding mechanism, a suction mechanism, a testing mechanism and a discharging mechanism, and realizes conductivity detection of piezoelectric ceramic sheets, but does not disclose visual detection, laser marking and cleaning mechanisms and methods for the appearance of piezoelectric ceramics, and cannot realize complete automatic detection of piezoelectric ceramics.

[0004] Patent application No. 202221717808.8 discloses a piezoelectric ceramic ultrasonic sensor detection equipment, which comprises a positioning seat and a detection positioning part, and is electrically connected with the piezoelectric ceramic sheet through two electrode sheets, so as to connect the piezoelectric ceramic sheet with an oscilloscope, so as to reflect the charge change of the piezoelectric ceramic sheet caused by knocking, and then detect whether the piezoelectric ceramic sheet is qualified, but does not disclose visual detection, laser marking and cleaning mechanisms and methods for the piezoelectric ceramics, and cannot realize automatic detection. SUMMARY

[0005] To solve the problems in the above background art, the present application provides a piezoelectric ceramic automatic detection equipment and a detection method, which realizes complete automatic operation of laser marking, high voltage detection, ultrasonic cleaning and visual detection of piezoelectric ceramic elements, has reasonable layout and is convenient to operate.

[0006] The present application adopts the following technical solutions:

[0007] The piezoelectric ceramic automatic detection equipment comprises a conveying assembly, one side of the conveying assembly is provided with a six-axis mechanical arm, one side of the six-axis mechanical arm is provided with a high-voltage detection device and an ultrasonic cleaning device, the other side of the six-axis mechanical arm is provided with a visual detection device, the upper side of the conveying assembly is provided with a laser marking device and a code reading camera; the high-voltage detection device comprises an electrode block, a ground electrode arranged above the electrode block and a ground electrode moving mechanism for moving the ground electrode up and down.

[0008] Further, the high-voltage detection device further comprises a rejection pushing mechanism, the rejection pushing mechanism comprises a horizontal pushing arm arranged above the electrode block and a horizontal pushing moving mechanism for moving the horizontal pushing arm horizontally.

[0009] Further, the high-voltage detection device further comprises a first clamping mechanism and a first clamping moving mechanism for moving the first clamping mechanism horizontally and vertically.

[0010] Further, the ultrasonic cleaning device comprises a cleaning tank, a blowing mechanism arranged above the cleaning tank and a second clamping mechanism.

[0011] Further, the visual detection device comprises a bottom detection mechanism, a top detection mechanism and a four-side detection mechanism arranged in sequence, and further comprises a visual detection moving mechanism for moving the piezoelectric ceramic horizontally between the bottom detection mechanism, the top detection mechanism and the four-side detection mechanism.

[0012] Further, the conveying assembly comprises a conveying device and a tray mechanism moving horizontally on the conveying device.

[0013] Further, the lower side of the conveying device is provided with three tray positioning mechanisms arranged in sequence at an upper tray storage station, an operation station and a lower tray storage station.

[0014] Further, the two sides of each tray positioning mechanism are provided with a tray positioning mechanism.

[0015] Further, the tray positioning mechanism comprises two positioning support plates arranged oppositely, a support plate moving mechanism arranged below the positioning support plates, the support plate moving mechanism moving the two positioning support plates horizontally and vertically; the positioning support plate comprises a connecting plate, two support claws are formed by protruding outward at the two ends of one side of the connecting plate, and a positioning step is arranged on the support claw.

[0016] A piezoelectric ceramic automatic detection method adopts a piezoelectric ceramic automatic detection equipment and comprises the following steps:

[0017] S1, feeding: placing a tray containing piezoelectric ceramics at an upper tray storage station;

[0018] S2, marking: the tray is moved to the operating position, the six-axis mechanical arm grabs the piezoelectric ceramic element to the laser marking device, and automatic coding and marking are carried out according to the type of the piezoelectric ceramic element;

[0019] S3, code reading: the six-axis mechanical arm grabs the piezoelectric ceramic element to the code reading camera for code reading and identification, the code information is stored after the code reading is qualified, the quality information library of the code is formed, and the unqualified code reading is put into the waste box;

[0020] S4, high voltage detection: the six-axis mechanical arm grabs the piezoelectric ceramic element and transmits it to the first clamping mechanism, the first clamping mechanism places the piezoelectric ceramic element on the electrode block, the ground electrode moving mechanism drives the ground electrode to move downward to realize contact discharge, data automatic judgment and storage are realized through communication between the data acquisition software and the oscilloscope, the piezoelectric ceramic element with unqualified data judgment is removed through the waste removal flat pushing mechanism, and the piezoelectric ceramic element with qualified data judgment is transported back to the six-axis mechanical arm through the first clamping mechanism;

[0021] S5, ultrasonic cleaning: the six-axis mechanical arm transmits the piezoelectric ceramic element to the second clamping mechanism, the second clamping mechanism immerses the piezoelectric ceramic element in the cleaning tank, blows the piezoelectric ceramic element through the blowing mechanism after cleaning, and finally transports the piezoelectric ceramic element back to the six-axis mechanical arm;

[0022] S6, visual detection: the six-axis mechanical arm transports the piezoelectric ceramic element to the bottom detection mechanism for bottom detection, and then places the piezoelectric ceramic element on the visual detection transfer mechanism, sequentially moves the piezoelectric ceramic element to the top detection mechanism and the four-side detection mechanism for top detection and four-side detection respectively, and after detection, the unqualified piezoelectric ceramic element is put into the waste box, and the qualified product is put back to the tray;

[0023] S7, repeat steps S2-S6 until the detection of the piezoelectric ceramic elements in the whole tray is completed;

[0024] S8, discharging: the tray with all the piezoelectric ceramic elements detected is moved to the discharging and storing position, the tray is discharged, and finally the tray is taken out.

[0025] Compared with the prior art, the beneficial effects of the present application are:

[0026] 1) The present application realizes complete automatic detection of the piezoelectric ceramic element through the setting of the conveying assembly, the six-axis mechanical arm, the high voltage detection device, the ultrasonic cleaning device, the visual detection device, the laser marking device and the code reading camera, and the layout is reasonable and the operation is convenient.

[0027] 2) The high voltage detection device of the application comprises an electrode block, a ground electrode arranged above the electrode block, a ground electrode moving mechanism for moving the ground electrode up and down, the ground electrode moves downward to contact the piezoelectric ceramic element on the electrode block, and the detected data is automatically interpreted and stored through communication between the data acquisition software and the oscilloscope, thereby realizing high voltage detection of the piezoelectric ceramic element.

[0028] 3) The conveying device of the application is provided with three tray position blocking mechanisms below, which are sequentially arranged at the tray feeding and storing station, the operation station and the tray discharging and storing station, when the tray mechanism moves to each station, the position blocking mechanism blocks in front of the tray mechanism to block the tray mechanism from continuing to advance, thereby facilitating other operations. BRIEF DESCRIPTION OF DRAWINGS

[0029] In order to more clearly illustrate the technical solutions in the embodiments of the application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the application, and other drawings can be obtained by those skilled in the art without creative effort on the basis of these drawings.

[0030] Figure 1 It is a schematic diagram of the overall structure of the piezoelectric ceramic automatic detection equipment of the application.

[0031] Figure 2 It is a top view of the piezoelectric ceramic automatic detection equipment of the application.

[0032] Figure 3 It is a schematic diagram of the structure of the high voltage detection device of the application.

[0033] Figure 4 It is a schematic diagram of the structure of the ultrasonic cleaning device of the application.

[0034] In the diagram: 1-Conveying assembly, 2-Six-axis robotic arm, 3-High voltage detection device, 4-Ultrasonic cleaning device, 5-Vision inspection device, 6-Laser marking device, 7-Code reader camera, 8-Equipment platform support, 9-System operation control terminal, 11-Conveying device, 12-Pan mechanism, 13-Pan mechanism to block, 14-Pan positioning mechanism, 15-Waste collection box, 31-Electrode block, 32-Ground electrode, 33-Ground electrode moving mechanism, 34-Waste rejection and leveling mechanism, 35-First clamping mechanism, 36-First clamping moving mechanism, 41-Cleaning tank , 42-Blowing mechanism, 43-Second clamping mechanism, 44-Second clamping moving mechanism, 51-Bottom detection mechanism, 52-Top detection mechanism, 53-Four-sided detection mechanism, 54-Vision inspection transfer mechanism, 81-Equipment platform desktop, 111-Feeding conveyor, 112-Unloading conveyor, 141-Positioning support plate, 142-Support plate transfer mechanism, 331-Motor, 332-Screw, 333-Ground electrode mounting bracket, 341-Push arm, 342-Push moving mechanism, 3421-First slide cylinder, 3422-Connecting frame. Detailed Implementation

[0035] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of the present invention.

[0036] The following is in conjunction with the appendix Figure 1 To be continued Figure 4 The invention is described in detail with specific embodiments:

[0037] This invention provides an automated testing device for piezoelectric ceramics, such as... Figures 1-4 As shown, the system includes a conveying assembly 1, a six-axis robotic arm 2 on one side of the conveying assembly 1, a high-voltage detection device 3 and an ultrasonic cleaning device 4 on one side of the six-axis robotic arm 2, a vision inspection device 5 on the other side of the six-axis robotic arm 2, and a laser marking device 6 and a code reading camera 7 above the conveying assembly 1. Piezoelectric ceramic elements are conveyed through the conveying assembly 1. The six-axis robotic arm 2 is used to grasp and transfer the piezoelectric ceramic elements between different devices. The high-voltage detection device 3 is used to perform high-voltage detection on the piezoelectric ceramic elements. The ultrasonic cleaning device 4 is used to perform ultrasonic cleaning on the piezoelectric ceramic elements. The vision inspection device 5 is used to perform visual inspection on the piezoelectric ceramic elements. The laser marking device 6 is used to automatically encode and laser mark the piezoelectric ceramic elements. The code reading camera 7 is used to read and identify the codes on the piezoelectric ceramic elements. The laser marking device 6 and the code reading camera 7 are positioned above the conveying assembly 1, which helps to save space.

[0038] The high-voltage detection device 3 comprises an electrode block 31, a ground electrode 32 arranged above the electrode block 31, a ground electrode moving mechanism 33 for moving the ground electrode 32 up and down, the ground electrode moving mechanism 33 comprising a motor 331, a lead screw 332 in transmission connection with the motor 331, and a ground electrode mounting frame 333 in threaded connection with the lead screw 332, the ground electrode 32 being mounted on the ground electrode mounting frame 333, the motor 331 rotating to drive the lead screw 332 to rotate and drive the ground electrode mounting frame 333 to move up and down, thereby realizing the up-and-down movement of the ground electrode 32, the ground electrode 32 being in contact with the piezoelectric ceramic element on the electrode block 31 at the dropping point, and meanwhile, the data detected are automatically interpreted and stored through communication between the data acquisition software and the oscilloscope, so as to realize the high-voltage detection of the piezoelectric ceramic element.

[0039] The device further comprises a device platform support 8, and a device platform table top 81 is fixedly installed on the device platform support 8, for placing various devices and at the same time making the device have a proper operation height.

[0040] Specifically, the device further comprises a system operation control end 9 installed on the device platform support 8, for controlling and observing the operation of the entire detection device.

[0041] Further, the high-voltage detection device 3 further comprises a rejection and pushing mechanism 34, the rejection and pushing mechanism 34 comprising a horizontal pushing arm 341 arranged above the electrode block 31 and a horizontal pushing moving mechanism 342 for driving the horizontal pushing arm 341 to move horizontally, specifically, the horizontal pushing moving mechanism 342 comprising a first sliding table air cylinder 3421, the cylinder body of the first sliding table air cylinder 3421 being fixedly connected with the platform support, the sliding table of the first sliding table air cylinder 3421 being fixedly connected with a connecting frame 3422, the connecting frame 3422 being fixedly connected with the horizontal pushing arm 341, the sliding table moving horizontally relative to the cylinder body to drive the connecting frame 3422 and thus the horizontal pushing arm 341 to move horizontally, so as to reject the unqualified piezoelectric ceramic element on the electrode block 31 and drop it into a waste frame.

[0042] Further, the high-voltage detection device 3 further comprises a first clamping mechanism 35 and a first clamping moving mechanism 36 for driving the first clamping mechanism 35 to move horizontally and vertically, the first clamping moving mechanism 36 realizing horizontal movement through a horizontally arranged sliding table module and realizing vertical movement through a vertically arranged sliding table module; the first clamping mechanism 35 comprising a pair of first clamping jaws and a mechanical hand for driving the two first clamping jaws to move towards each other or in opposite directions, wherein the mechanical hand is of the prior art, and the two first clamping jaws clamp or release the piezoelectric ceramic element.

[0043] Further, the ultrasonic cleaning device 4 comprises a cleaning tank 41, a blowing mechanism 42 arranged above the cleaning tank 41, and a second clamping mechanism 43, and further comprises a second clamping moving mechanism 44 for moving the second clamping mechanism 43 up and down, and the second clamping mechanism 43 is moved downward into the cleaning tank 41 after clamping the piezoelectric ceramic element from the six-axis robot 2, so as to clean the piezoelectric ceramic element.

[0044] Further, the visual detection device 5 comprises a bottom detection mechanism 51, a top detection mechanism 52, and a four-side detection mechanism 53 arranged in sequence, and further comprises a visual detection moving mechanism 54 for moving the piezoelectric ceramic element horizontally between the bottom detection mechanism 51, the top detection mechanism 52, and the four-side detection mechanism 53; the bottom detection mechanism 51 comprises a first detection table and a first optical magnifier arranged below the first detection table, and the relative position between the first detection table and the first optical magnifier is adjustable through a slide rail; the detection moving mechanism comprises a second detection table, a visual detection slide table fixedly installed below the second detection table, and a visual detection slide rail in sliding connection with the visual detection slide table, and the setting position of the visual detection slide table passes through the side edges of the bottom detection mechanism 51, the top detection mechanism 52, and the four-side detection mechanism 53, the six-axis robot 2 places the piezoelectric ceramic element on the first detection table to perform bottom detection, after the bottom detection is completed, the six-axis robot 2 clamps the piezoelectric ceramic element and places it on the second detection table, the second detection table moves towards the top detection mechanism 52, and after being in position, top detection is performed, and then the second detection table moves towards the four-side detection mechanism 53 to perform four-side detection.

[0045] Further, the conveying assembly 1 comprises a conveying device 11 and a tray mechanism 12 horizontally moving on the conveying device 11, and the tray mechanism 12 is used for placing the piezoelectric ceramic element, and the tray mechanism 12 horizontally moves on the conveying device 11, so as to facilitate the feeding, discharging, and operation of the six-axis robot 2.

[0046] Further, the lower part of the conveying device 11 is provided with three tray-to-position blocking mechanisms 13, which are sequentially arranged at the tray feeding storage position, the operation position and the tray discharging storage position. When the tray mechanism 12 moves to each position, the blocking mechanism blocks in front of the tray mechanism 12, blocks the tray mechanism 12 from continuing to advance, and facilitates other operations. Specifically, the blocking mechanism includes a baffle and a baffle moving mechanism for moving the baffle up and down. The baffle moving mechanism includes a second sliding table cylinder, and the cylinder rod of the second sliding table cylinder is fixedly connected with the baffle. The baffle extends upward above the conveying device 11, and is used to block the continuous advancement of the tray mechanism 12 when the tray mechanism 12 moves to the corresponding position. When the operation at the corresponding position is completed, the tray mechanism 12 needs to continue to move on the conveying device 11. The baffle moving mechanism drives the baffle to move downward and retract into the conveying device 11, so as to no longer block the continuous advancement of the tray mechanism 12. Specifically, the tray-to-position blocking mechanism 13 further includes a photoelectric sensor arranged above the baffle, which is used to obtain the position and quantity of the tray mechanism 12.

[0047] Specifically, the six-axis mechanical arm 2 is arranged at the operation position, which is convenient for taking and placing the piezoelectric ceramic element.

[0048] Further, each tray-to-position blocking mechanism 13 is provided with a tray positioning mechanism 14 on both sides, which is used to position the tray mechanism 12 blocked by the tray-to-position blocking mechanism 13.

[0049] Further, the tray positioning mechanism 14 includes two positioning support plates 141 arranged oppositely, and a support plate moving mechanism 142 arranged below the positioning support plates 141, which drives the two positioning support plates 141 to move horizontally and vertically. The positioning support plate 141 includes a connecting plate, two support claws are protruded outward at both ends of one side of the connecting plate, and a positioning step is arranged on the support claw. After the tray mechanism 12 is blocked and fixed by the tray-to-position blocking mechanism 13, the two support claws move downward below the tray mechanism 12, and then move towards each other to clamp the tray mechanism 12 at the positioning step, so as to clamp and fix the tray mechanism 12.

[0050] Specifically, the support plate transfer mechanism 142 comprises two horizontal transfer mechanisms for driving the two positioning support plates 141 to move horizontally respectively, and a vertical transfer mechanism arranged below the horizontal transfer mechanisms and driving the two horizontal transfer mechanisms to move up and down simultaneously; the horizontal transfer mechanism comprises a third sliding table cylinder, the cylinder rod of the third sliding table cylinder is fixedly connected with the positioning support plate 141, and the positioning support plate 141 is driven to move horizontally, and the two third sliding table cylinders drive the positioning support plate 141 to move towards each other or away from each other; the vertical transfer mechanism comprises a first mounting plate fixedly installed with the cylinder body of each third sliding table cylinder, at least one light shaft fixedly connected with the lower end of each first mounting plate, a second mounting plate fixedly connected with all the light shafts, and a cylinder fixedly installed on the second mounting plate, the cylinder rod of the cylinder is fixedly connected with the equipment platform tabletop 81 through the second mounting plate, a plurality of shaft sleeves are fixedly installed on the equipment platform tabletop 81, the shaft sleeves correspond to the light shafts one by one, and the light shafts pass through the shaft sleeves, thereby facilitating upward and downward movement.

[0051] The first force control electric claw and the second force control electric claw are detachably installed on the six-axis mechanical arm 2, so that the piezoelectric ceramic element can be conveniently grabbed.

[0052] The conveying device 11 comprises an upper feeding conveying device 111 and a lower feeding conveying device 112, which are separately arranged to facilitate processing and assembly.

[0053] The conveying device 11 is provided with a waste collecting box 15 on the side, which is used for placing unqualified elements identified by the code reading camera 7, and the waste collecting box 15 is arranged at the operating station, so that the six-axis mechanical arm 2 can place the unqualified piezoelectric ceramic element into the waste collecting box 15.

[0054] The application further discloses a piezoelectric ceramic automatic detection method, which adopts the piezoelectric ceramic automatic detection equipment and comprises the following steps.

[0055] S1, feeding: placing a tray loaded with piezoelectric ceramics on a feeding and storing station;

[0056] S2, marking: moving the tray to the operating station, fixing the tray through a tray positioning mechanism 14 after being blocked by a tray to position mechanism 13, and grabbing the piezoelectric ceramic element by the six-axis mechanical arm 2 to the laser marking device 6 to automatically encode and mark according to the type of the piezoelectric ceramic element;

[0057] S3, code reading: grabbing the piezoelectric ceramic element by the six-axis mechanical arm 2 to the code reading camera 7 to read and identify the code, storing the code information after the code reading is qualified, forming a quality information library of the code, and placing the unqualified code reading into a waste box;

[0058] S4, high voltage detection: the six-axis robot 2 picks up the piezoelectric ceramic element and delivers it to the first clamping mechanism 35, the first clamping mechanism 35 places the piezoelectric ceramic element on the electrode block 31, the ground electrode moving mechanism 33 drives the ground electrode 32 to move downward to realize contact discharge, data automatic interpretation and storage are realized through communication between the data acquisition software and the oscilloscope, the piezoelectric ceramic element with unqualified data interpretation is removed through the rejection flat pushing mechanism, the piezoelectric ceramic element with qualified data interpretation is transported back to the six-axis robot 2 through the first clamping mechanism 35;

[0059] S5, ultrasonic cleaning: the six-axis robot 2 delivers the piezoelectric ceramic element to the second clamping mechanism 43, the second clamping mechanism 43 immerses the piezoelectric ceramic element in the cleaning tank 41, blows it through the blowing mechanism 42 after cleaning, and finally transports the piezoelectric ceramic element back to the six-axis robot 2;

[0060] S6, visual inspection: the six-axis robot 2 transports the piezoelectric ceramic element to the bottom detection mechanism 51 for bottom detection, and then places it on the visual inspection transfer mechanism 54, sequentially moves the piezoelectric ceramic element to the top detection mechanism 52 and the four-side detection mechanism 53 for top detection and four-side detection respectively, and after detection, the unqualified piezoelectric ceramic element is put into the waste box, and the qualified product is put back into the tray;

[0061] S7, repeat steps S2-S6 until the detection of all piezoelectric ceramic elements in the tray is completed;

[0062] S8, discharging: move the tray with all the detected piezoelectric ceramic elements to the discharging storage station, wait for the tray to discharge, and finally take out the tray.

[0063] The above further describes the present application with specific embodiments, but it should be understood that the specific description here should not be understood as limiting the essence and scope of the present application, and various modifications made by those skilled in the art after reading the above description are within the scope of the present application.

Claims

1. A piezoelectric ceramic automated inspection apparatus comprising a conveying assembly, characterized in that, One side of the conveying assembly is provided with a six-axis mechanical arm, one side of the six-axis mechanical arm is provided with a high-voltage detection device and an ultrasonic cleaning device, the other side of the six-axis mechanical arm is provided with a visual detection device, the upper side of the conveying assembly is provided with a laser marking device and a code reading camera; The high-voltage detection device comprises an electrode block, a ground electrode arranged above the electrode block, and a ground electrode moving mechanism for moving the ground electrode up and down; the ground electrode moving mechanism comprises a motor, a lead screw in transmission connection with the motor, and a ground electrode mounting frame in screw connection with the lead screw, and the ground electrode is mounted on the ground electrode mounting frame; The high-voltage detection device further comprises a rejection and pushing mechanism, which comprises a horizontal pushing arm arranged above the electrode block and a horizontal pushing moving mechanism for moving the horizontal pushing arm horizontally; the horizontal pushing moving mechanism comprises a first sliding table cylinder, the cylinder body of the first sliding table cylinder is fixedly connected with a platform support, the sliding table of the first sliding table cylinder is fixedly connected with a connecting frame, and the connecting frame is fixedly connected with the horizontal pushing arm; The high-voltage detection device further comprises a first clamping mechanism and a first clamping moving mechanism for moving the first clamping mechanism horizontally and vertically; the first clamping moving mechanism realizes horizontal movement through a horizontally arranged sliding table module and realizes vertical movement through a vertically arranged sliding table module; the first clamping mechanism comprises two first clamping jaws arranged in pairs, a mechanical jaw for moving the two first clamping jaws towards or away from each other, and the two first clamping jaws clamp or release the piezoelectric ceramic element; The conveying assembly comprises a conveying device and a tray mechanism moving horizontally on the conveying device; Three tray positioning mechanisms are arranged on the lower side of the conveying device, and the three tray positioning mechanisms are sequentially arranged at the loading tray station, the operation station and the unloading tray station; Each of the tray positioning mechanisms is provided with a tray positioning mechanism on both sides; The tray positioning mechanism comprises two positioning support plates arranged oppositely, and a support plate moving mechanism arranged below the positioning support plates, the support plate moving mechanism moving the two positioning support plates horizontally and vertically; the positioning support plate comprises a connecting plate, two support claws are protruded outward at both ends of one side of the connecting plate, and a positioning step is arranged on the support claw.

2. The piezoelectric ceramic automated inspection apparatus according to claim 1, wherein The ultrasonic cleaning device comprises a cleaning tank, a blowing mechanism arranged above the cleaning tank and a second clamping mechanism.

3. The piezoelectric ceramic automated inspection apparatus according to claim 1, wherein The visual detection device comprises a bottom detection mechanism, a top detection mechanism and a four-side detection mechanism arranged sequentially, and further comprises a visual detection moving mechanism for moving the piezoelectric ceramic horizontally between the bottom detection mechanism, the top detection mechanism and the four-side detection mechanism.

4. A piezoelectric ceramic automated detection method, characterized by, The piezoelectric ceramic automatic detection equipment of any one of claims 1-3, the method comprises the following steps: S1, loading: placing a tray containing piezoelectric ceramics at the loading tray station; S2, marking: moving the tray to the operation station, the six-axis mechanical arm grabbing the piezoelectric ceramic element to the laser marking device for automatic coding and marking according to the type of the piezoelectric ceramic element; S3, reading code: six-axis robot grabs piezoelectric ceramic elements to read code camera for reading code identification, reading code qualified code information storage, forming the quality information library, reading code unqualified into the scrap box; S4, high voltage detection: six-axis robot grabs piezoelectric ceramic elements to the first clamping mechanism, the first clamping mechanism piezoelectric ceramic elements placed on the electrode block, ground electrode moving mechanism driven ground electrode downward to realize contact discharge, through the data acquisition software and oscilloscope communication to realize automatic data interpretation and storage, data interpretation of piezoelectric ceramic elements unqualified by the rejection flat push mechanism for rejection, data interpretation of piezoelectric ceramic elements qualified, through the first clamping mechanism back to the six-axis robot; S5, ultrasonic cleaning: six-axis robot piezoelectric ceramic elements to the second clamping mechanism, the second clamping mechanism piezoelectric ceramic elements immersed in the cleaning tank, cleaning through the blowing mechanism after blowing, finally piezoelectric ceramic elements back to the six-axis robot; S6, visual inspection: six-axis robot piezoelectric ceramic elements to the bottom of the detection mechanism for bottom detection, and then placed to the visual inspection transfer mechanism, in turn to the top of the detection mechanism and four detection mechanism respectively for top detection and four side detection, detection through the data interpretation, unqualified piezoelectric ceramic elements into the scrap box, qualified products back to the tray; S7, repeat steps S2-S6 to the whole tray of piezoelectric ceramic elements detection is completed; S8, discharging: the tray of all piezoelectric ceramic elements detection complete moving to the discharging tray station, waiting for the tray discharge, finally the tray is taken out.

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