Carrying assembly and detection device

Abstract

The invention relates to a carrying assembly and a detection device, the carrying assembly comprises a rack part, jigs, a driving module and a stop part, and the multiple jigs are rotatably arranged on the rack part; the driving module is connected with the plurality of jigs; the number of the stop components is multiple, each stop component comprises a follow-up structure and a stop structure, the follow-up structures are connected with the jigs in a one-to-one correspondence mode and rotate along with the jigs, and the stop structures are fixedly connected with the rack component; one of the follow-up structure and the stop structure is provided with a first limiting part, the other one of the follow-up structure and the stop structure is provided with a second limiting part, the second limiting part can elastically move between an initial position and an avoiding position, and the second limiting part at the avoiding position avoids a relative rotation path of the first limiting part; in the forward rotation process, the first limiting part can relatively move to push the second limiting part from the initial position to the avoiding position; in the reverse rotation process, the first limiting part can relatively move to the position where the first limiting part and the second limiting part located at the initial position reversely abut against each other for positioning.

Description

Technical Field

[0001] The present application relates to the technical field of material transportation, and in particular to a transport component and a detection device. Background Art

[0002] Traditional solutions often use multiple movable fixtures to carry multiple workpieces for batch processing to improve production efficiency. However, each fixture exhibits motion errors during operation, and these error characteristics vary. Furthermore, these errors gradually accumulate, leading to positional deviations between different fixtures. This results in poor consistency in the position of workpieces picked up by different fixtures, impacting machining accuracy, assembly quality, and the reliability of inspection results, limiting improvements in production efficiency and product quality. Summary of the Invention

[0003] Based on this, it is necessary to provide a transport assembly and a detection device to address the current problem of low consistency in workpiece posture when processing multiple workpieces in batches.

[0004] On the one hand, the present application provides a carrying assembly, which includes a frame component, a fixture, a driving module and a stopping component, wherein a plurality of the fixtures are rotatably provided on the frame component for picking up workpieces; the driving module is connected to the plurality of the fixtures to uniformly drive the plurality of the fixtures to rotate; the number of the stopping components is multiple, and the stopping component includes a following structure and a stopping structure, wherein the following structures are connected to the plurality of the fixtures in a one-to-one correspondence and rotate with the plurality of the fixtures, and the stopping structures are fixedly connected to the frame component; wherein one of the following structure and the stopping structure has There is a first limiting part, and the other has a second limiting part. The second limiting part can be elastically moved between an initial position and an avoidance position. The second limiting part in the avoidance position avoids the relative rotation path of the first limiting part; during the forward rotation of the following structure relative to the stop structure, the first limiting part can move relatively to push the second limiting part from the initial position to the avoidance position; during the reverse rotation of the following structure relative to the stop structure, the first limiting part can move relatively to a position in which it is reversely abutted and positioned with the second limiting part in the initial position.

[0005] In one embodiment, the follower structure includes a main body ring, which is connected to the jig and coaxially arranged, and the first limiting portion protrudes from the outer peripheral wall of the main body ring; the stopping component also includes a fixing seat and an elastic member, the fixing seat is provided with an inner cavity, the fixing seat covers the outside of the follower structure, the follower structure is located in the inner cavity, the second limiting portion is provided on the fixing seat, and the elastic member is connected between the fixing seat and the stop structure.

[0006] In one embodiment, the stop structure includes a tongue and a rotating part, the rotating part is rotatably matched with the fixing seat, one end of the tongue is connected to the rotating part, and the other end of the tongue is configured as the second limiting part and extends into the inner cavity.

[0007] In one embodiment, the fixing seat is provided with a swinging groove, the stop structure is arranged in the swinging groove, the rotating portion is rotatably matched with the bottom wall of the swinging groove, and the elastic member abuts between the tongue and the side wall of the swinging groove; wherein, the jig rotates around the first axis, the maximum distance from the first limiting portion to the first axis is d0, the swinging groove includes a first side wall and a second side wall arranged opposite to each other in the swinging direction of the tongue, and the elastic member pushes the tongue to approach the first side wall or maintain contact with the first side wall; when the tongue abuts against the first side wall, the shortest distance from the tongue to the first axis is d1, d1<d0; when the tongue abuts against the second side wall, the shortest distance from the tongue to the first axis is d2, d2>d0.

[0008] In one embodiment, the stop structure includes a latch tooth, which is telescopically arranged on the fixed seat, one end of the latch tooth is configured as the second limiting portion and extends into the inner cavity, and the elastic member abuts between the other end of the latch tooth and the fixed seat.

[0009] In one embodiment, the fixing seat is provided with a telescopic slot and a limit slot that are interconnected, and the telescopic slot and the limit slot both extend along a reference direction, and the stop structure also includes a limit body, the limit body is connected to the latch, the latch slides in cooperation with the telescopic slot, and the limit body slides in cooperation with the limit slot; wherein, the jig rotates around the first axis, the maximum distance from the first limit part to the first axis is d0, the limit slot includes a third side wall and a fourth side wall arranged opposite to each other in the reference direction, the elastic member pushes the latch so that the limit body is close to the third side wall or maintains contact with the third side wall when not pushed by the first limit part; when the latch abuts the third side wall, the shortest distance from the latch to the first axis is d3, d3<d0; when the latch abuts the fourth side wall, the shortest distance from the latch to the first axis is d4, d4>d0.

[0010] In one embodiment, the follower structure includes a main body ring, which is connected to the jig and coaxially arranged, and the first limiting portion protrudes from the inner wall of the main body ring; the stopping component also includes a fixing seat and an elastic member, the fixing seat extends inwardly from the main body ring, the second limiting portion is arranged on the fixing seat, and the elastic member is connected between the fixing seat and the stopping structure.

[0011] In one embodiment, the follower structure includes a main body ring, which is connected to the jig and coaxially arranged, and at least one of the first limiting portion and the second limiting portion is constructed as an elastic hook; when the first limiting portion abuts the second limiting portion, the elastic hook bends and deforms to avoid the relative rotation path of the first limiting portion.

[0012] In one embodiment, the frame component includes a vertical frame and a beam frame, the jig is rotatably provided on the beam frame around a first axis, and the beam frame is rotatably provided on the vertical frame around a second axis; the driving module includes a driver and multiple motors, the multiple motors are connected to the driver in parallel, the driver drives the multiple motors uniformly, the multiple motors are fixed to the beam frame and are connected to the multiple jigs one by one, and the stop structure is fixed to the fixed part of the motor or fixed to the beam frame.

[0013] On the other hand, the present application further provides a detection device, which includes a detection component and the carrying component as described above.

[0014] In the aforementioned carrier assembly, multiple jigs are rotatably mounted on the frame member, each capable of moving multiple workpieces through position changes for processing. The follower structure of the stop member is connected to the jig and rotates therewith, while the stop member's retaining structure is fixedly connected to the frame member.

[0015] One of the follower structure and the stop structure is provided with a first limiting portion, and the other is provided with a second limiting portion, and the second limiting portion can elastically move between an initial position and an avoidance position. During the relative forward rotation of the follower structure with the jig and the stop structure, the first limiting portion can push the second limiting portion from the initial position to the avoidance position. That is, during the forward rotation of the follower structure, the first limiting portion can push the second limiting portion to elastically move, causing the second limiting portion to form an avoidance position. At this time, the first limiting portion and the second limiting portion do not hinder the relative rotation of each other, and the jig can rotate smoothly in the forward direction relative to the frame component to adjust the posture of the workpiece and facilitate processing. During the relative reverse rotation of the follower structure with the jig and the stop structure, the first limiting portion can reversely abut and position with the second limiting portion in the initial position, and after abutment, the two cannot further rotate relative to each other. That is, when the jig rotates in the opposite direction relative to the frame assembly until the first limiting portion abuts against the second limiting portion in its initial position, the frame assembly can, through the stopper component, limit the jig to a preset fixed position in which the first limiting portion abuts against the second limiting portion in its initial position. This preset fixed position, referred to as the zero-position position, can be preconfigured to be identical for each jig. Thus, the drive module can achieve zero-position calibration by driving each jig in the opposite direction to its zero-position position, thereby improving the positional consistency of each jig and the workpieces it picks up. It should be noted that during the jig's forward rotation, the first limiting portion and the second limiting portion abut against each other, causing the second limiting portion to elastically move, avoiding the relative rotational path of the first limiting portion. When the two limit portions pass through each other's area, the second limiting portion elastically returns to its initial position, ensuring that the first limiting portion abuts against the second limiting portion in its initial position during the jig's reverse rotation, reducing the risk of the jig failing to calibrate its zero position.

[0016] During the reverse rotation of each fixture, the first stopper contacts the second stopper in reverse, and the fixture stops rotating. Thus, the drive module can uniformly drive each fixture to rotate in the reverse direction through a large angle (e.g., 360°) to return all fixtures to their zero position, achieving fixture posture calibration. This configuration of the present application allows multiple fixtures to be driven by a single drive module while meeting the requirements for fixture posture calibration. This eliminates the need for multiple drive modules to drive multiple fixtures separately, thereby reducing overall costs and simplifying the structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is an axonometric diagram of a detection device provided in one embodiment of the present application.

[0018] Figure 2 for Figure 1 Side view of the detection device shown.

[0019] Figure 3 This is a schematic axonometric diagram of a carrier assembly provided in one embodiment of the present application.

[0020] Figure 4 for Figure 3 Axonometric diagram of the jig, motor, stop, and air connector in the carrier assembly shown.

[0021] Figure 5 for Figure 4 Exploded view of the jig, motor, stop, and air connector in the carrier assembly shown.

[0022] Figure 6 for Figure 5 A top view of the stop member in the carrier assembly is shown.

[0023] Figure 7 This is a schematic block diagram of the connection between the driving module and the fixture provided in one embodiment of the present application.

[0024] Figure 8 for Figure 3 Axonometric view of the carrier assembly shown with part of the frame structure hidden.

[0025] Figure 9 for Figure 6 Schematic diagram of the position distribution of each component in the stop component shown.

[0026] Figure 10 A top view of a stop component provided in another embodiment of the present application.

[0027] Figure 11 for Figure 10 Exploded view of the stop components shown.

[0028] Figure 12 for Figure 10 Schematic diagram of the position distribution of each component in the stop component shown.

[0029] Figure 13 This is a schematic structural diagram of a stop component provided in another embodiment of the present application.

[0030] Figure 14 A schematic cross-sectional view of a follower structure in a stop component provided in another embodiment of the present application.

[0031] Figure numerals: 10, detection device; 11, carrying assembly; 12, detection assembly; 12a, detection module; 13, transfer platform; 14, base; 15, gantry; 16, longitudinal movement module; 17, first carrier; 18, translation module; 19, second carrier; 100, frame component; 110, stand; 120, beam; 121, fixing plate; 130, installation space; 200, fixture; 310, motor; 311, output shaft; 400, stop member; 401, first limiting portion; 402, second limiting portion; 403, first guide surface; 404, first stop surface; 405, second guide Entry surface; 406, second stop surface; 407, elastic hook; 410, follower structure; 411, main body ring; 412, threaded hole; 420, stop structure; 421, tongue; 422, rotating part; 423, tooth; 424, limiting body; 430, fixing seat; 431, inner cavity; 432, swinging groove; 433, first side wall; 434, second side wall; 435, telescopic groove; 436, limiting groove; 440, elastic member; 500, pitch driving member; 600, air joint; O1, first axis; O2, second axis; S1, first direction; S2, second direction; S3, third direction. DETAILED DESCRIPTION

[0032] To make the above-mentioned objects, features, and advantages of the present application more clearly understood, the specific embodiments of the present application are described in detail below with reference to the accompanying drawings. The following description sets forth many specific details to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways than those described herein, and those skilled in the art can make similar improvements without violating the scope of the present application. Therefore, the present application is not limited to the specific embodiments disclosed below.

[0033] In the description of this application, it should be understood that if the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. appear, the orientation or position relationship indicated by these terms is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing this application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application.

[0034] In addition, if the terms "first" or "second" appear, these terms are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of technical features indicated. Therefore, a feature specified as "first" or "second" may explicitly or implicitly include at least one of such features. In the description of this application, if the term "plurality" appears, "plurality" means at least two, for example, two, three, etc., unless otherwise specifically defined.

[0035] In this application, unless otherwise specified or limited, the terms "mounted," "connected," "connected," "fixed," etc., should be interpreted broadly. For example, these terms may refer to fixed connections, removable connections, or integration; mechanical connections or electrical connections; direct connections or indirect connections through an intermediary; and internal communication between two components or interaction between two components, unless otherwise specified. Those skilled in the art will understand the specific meanings of these terms in this application based on the specific circumstances.

[0036] In this application, unless otherwise expressly specified or limited, if a first feature is described as being "above" or "below" a second feature, or similar descriptions, this may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Furthermore, when a first feature is described as being "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is described as being "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0037] It should be noted that if an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be an intermediate element. If an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be an intermediate element. If any, the terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in this application are for illustrative purposes only and do not represent the only embodiment.

[0038] One embodiment of the present application provides a processing device. The processing device includes a transport component and a processing component. The transport component is used to transport the workpiece to be processed to the processing station. The transport component can also carry the processed workpiece to the next station. The processing component can perform processing procedures including but not limited to the following on the workpiece: detection, cutting, turning, milling, drilling, assembly, welding, dispensing, spraying, coating and performance testing. The following embodiments are described by taking the processing component performing detection processing on the workpiece as an example. In this case, the processing component is configured as a detection component and the processing device is configured as a detection device. In other words, please refer to Figure 1 and Figure 2 The present application also provides a testing device 10, which includes a transport component 11 and a testing component 12. The transport component 11 transports a workpiece to be inspected to a testing station. The transport component 11 can also transport a workpiece that has been inspected to another station.

[0039] In one embodiment, the carrier assembly 11 can perform zero-position calibration on the posture of the picked workpiece, thereby improving the consistency of the posture of each workpiece and facilitating processing. Still taking detection as an example, if the postures of the various workpieces at the detection station are different, then during the detection process, at least some of the parts of the workpieces that need to be detected cannot be fully exposed within the detection field of view, resulting in low detection accuracy and prone to errors. For another example, for a device used for measurement, if the postures of the various workpieces at the measurement station are different, it means that at least some of the workpieces are not in the expected posture. At this time, the measurement results cannot accurately reflect the actual physical quantity of the workpiece, that is, there is a measurement error, and it is difficult to achieve the expected measurement effect.

[0040] See also Figures 3 to 6 One embodiment of the present application provides a carrier assembly 11 for carrying a workpiece. The carrier assembly 11 includes a frame component 100, a jig 200, a drive module, and a stop component 400. The jig 200, the drive module, and the stop component 400 are respectively disposed on the frame component 100. The jig 200 is used to pick up the workpiece. Multiple jigs 200 are rotatably disposed on the frame component 100. The drive module is connected to the multiple jigs 200 to uniformly drive the multiple jigs 200 to rotate. The stop component 400 is used to limit the position of the jig 200 when it is in a specific position.

[0041] There are multiple stopper components 400, each connected between the jigs 200 and the frame component 100. The stopper components 400 include a follower structure 410 and a stopper structure 420. The follower structures 410 are connected to the jigs 200 in a one-to-one relationship and rotate with the corresponding jigs 200. The stopper structures 420 are fixedly connected to the frame component 100. One of the follower structure 410 and the stopper structure 420 has a first stopper portion 401, and the other has a second stopper portion 402. The second stopper portion 402 is elastically movable between an initial position and a relief position. In the relief position, the second stopper portion 402 avoids the relative rotation path of the first stopper portion 401.

[0042] like Figure 6 During forward rotation of the follower structure 410 relative to the stop structure 420, the first stopper 401 can move relative to the first stopper 401, pushing the second stopper 402 from its initial position to a relief position. This allows the second stopper 402 to elastically move, avoiding the relative rotation path of the first stopper 401. In other words, during forward rotation of the jig 200, it is not blocked or restricted by the stopper 400. The direction in which the follower structure 410 rotates with the jig 200 is indicated by the symbol Oz in the accompanying drawings.

[0043] like Figure 6 During reverse rotation of the follower structure 410 relative to the stop structure 420, the first stopper 401 can move relative to the first stopper 402 until it abuts against the second stopper 402 in its initial position. At this point, the first stopper 401 and the second stopper 402 abut against each other. In other words, when the jig 200 reverses to a specific position, it is blocked by the stopper 400. The direction in which the follower structure 410 reverses with the jig 200 is indicated by the symbol "Of" in the accompanying drawings.

[0044] In the aforementioned carrier assembly 11, multiple jigs 200 are rotatably mounted on the frame component 100. Each of the jigs 200 can move multiple workpieces through position changes for processing. The follower structure 410 of the stop component 400 is connected to the jig 200 and rotates therewith, while the stop structure 420 of the stop component 400 is fixedly connected to the frame component 100. One of the follower structure 410 and the stop structure 420 is provided with a first limiting portion 401, and the other with a second limiting portion 402. The second limiting portion 402 is elastically movable between an initial position and an avoidance position. During the relative forward rotation of the follower structure 410 with the jig 200 and the stop structure 420, the first limiting portion 401 can push the second limiting portion 402 from the initial position to the avoidance position. In the avoidance position, the second limiting portion 402 avoids the relative rotation path of the first limiting portion 401. That is, during forward rotation of the follower structure 410, the first limiting portion 401 can push the second limiting portion 402 to elastically move, causing the second limiting portion 402 to move out of the way. At this point, the first limiting portion 401 and the second limiting portion 402 do not hinder relative rotation, allowing the jig 200 to smoothly rotate forward relative to the frame assembly 100 to adjust the workpiece's posture and facilitate processing. During reverse rotation of the follower structure 410 relative to the jig 200 and the stop structure 420, the first limiting portion 401 can engage and position itself in a reverse direction with the second limiting portion 402 in its initial position, preventing further relative rotation. In other words, when the jig 200 rotates in the reverse direction relative to the frame assembly 100 until the first limiting portion 401 engages in reverse direction with the second limiting portion 402 in its initial position, the frame assembly 100 can, through the stop member 400, retain the jig 200 in a predetermined fixed position, where the first limiting portion 401 and the second limiting portion 402 engage in reverse direction. By recording this preset fixed posture as the zero-position posture, the zero-position posture of each jig 200 can be pre-configured to be the same, so that the driving module can achieve zero-position posture calibration by driving each jig 200 to rotate in the opposite direction and return to the zero-position posture, thereby improving the posture consistency of each jig 200 and the workpiece picked up by each jig 200. It should be noted that since the first limiting portion 401 and the second limiting portion 402 abut against each other during the forward rotation of the jig 200, the second limiting portion 402 moves elastically, forming an avoidance for the relative rotation path of the first limiting portion 401. When the two pass through each other's area, the second limiting portion 402 will be reset to the initial position under the action of the elasticity, ensuring that the first limiting portion 401 can abut against the second limiting portion 402 in the initial position when the jig 200 rotates in the opposite direction, reducing the risk of the jig 200 being unable to calibrate its zero position.

[0045] In conventional technology, a common approach to addressing the issue of posture consistency between the jig 200 and the workpiece is to configure multiple drive modules, each corresponding to a specific jig 200. When one or more jigs 200 exhibit posture errors relative to other jigs 200, the jig 200 is controlled by operating the drive module to rotate, compensating for the posture deviation and improving posture consistency. However, conventional solutions rely on multiple drive modules to independently drive each jig 200, resulting in a large number of drive modules, high costs, and a complex structure. In the present application, during reverse rotation, each jig 200 stops rotating relative to the first limiter 401 after contact with the second limiter 402. Consequently, the drive module uniformly drives each jig 200 in reverse rotation through a relatively large angle (e.g., 360°), returning all jigs 200 to their zero position and achieving jig 200 posture calibration. The present application is configured in such a way that, on the basis of meeting the requirements of posture calibration of the fixture 200, a single drive module can be used to drive multiple fixtures 200, without the need to configure multiple drive modules to drive the movement of multiple fixtures 200 separately, thereby reducing the overall cost and simplifying the structure.

[0046] In one embodiment, the drive module can periodically perform zero-position calibration on multiple jigs 200. Since the detection component 12 can photograph and inspect workpieces picked up by the jig 200, the results of the inspection component 12's photography can be used to determine whether there are posture deviations between the multiple workpieces and the multiple jigs 200. If posture deviations exist, the drive module can be controlled to perform zero-position calibration on the multiple jigs 200.

[0047] See also Figure 3 In one embodiment, the frame assembly 100 includes a vertical frame 110 and a beam frame 120, and multiple jigs 200 are all arranged on the beam frame 120. Furthermore, the jig 200 is rotatably arranged on the beam frame 120 around a first axis O1, and the beam frame 120 is rotatably arranged on the vertical frame 110 around a second axis O2. In other words, the jig 200 can rotate relative to the beam frame 120 around the first axis O1, and can also rotate relative to the vertical frame 110 around the second axis O2 along with the beam frame 120, thereby enriching the posture types of the jig 200 and the workpiece picked up by the jig 200 within the field of view of the inspection component 12, thereby facilitating comprehensive inspection. It can be understood that the various embodiments of the present application mainly focus on the consistency of the posture of multiple jigs 200 relative to the beam frame 120.

[0048] See also Figure 7 and Figure 8In one embodiment, the drive module includes a driver (not shown) and multiple motors 310. The multiple motors 310 are connected in parallel to the driver, which drives the multiple motors 310 in a unified manner, thereby reducing costs and simplifying the structure. The multiple motors 310 are fixed to the beam 120 and connected to the multiple jigs 200 in a one-to-one correspondence. It is understandable that, taking the stepper motor 310 as an example, the stepper motor 310 may experience rotation loss during operation, which may cause the jigs 200 corresponding to each motor 310 to rotate at different angles, resulting in poor workpiece posture consistency. Furthermore, certain external factors (such as accidental contact with the jig 200) may interfere with the rotation of the jig 200, resulting in poor posture consistency of the jig 200. It is easy to understand that the present application configures multiple motors 310 to be connected to multiple jigs 200 respectively. If there is posture deviation among the jigs 200, when the motor 310 drives the jig 200 back to zero, the timing of the return to zero position will also vary. Under the unified drive of the driver, the motor 310 corresponding to the fixture 200 that returns to the zero position first allows its output shaft 311 to stop rotating within a smaller amplitude range (the posture error is usually not too large), so that the corresponding fixture 200 stays at the zero position.

[0049] The driver may be installed on the beam 120 or configured in a control box or other location, and connected to the multiple motors 310 via cables.

[0050] See also Figure 4 and Figure 5 It should be noted that the stop structure 420 described in each embodiment is fixedly connected to the frame assembly 100. Alternatively, the stop structure 420 may be directly fixedly connected to the beam 120. In another embodiment, the stop structure 420 may be fixed to a fixed portion of the motor 310 (e.g., the motor 310 housing) and fixed relative to the beam 120. The follower structure 410 may be connected to the output shaft 311 of the motor 310 to rotate with the fixture 200.

[0051] Furthermore, the output shaft 311 of the motor 310 can be configured as a hollow setting, and the output shaft 311 is connected to the fixture 200. The carrier assembly 11 also includes an air connector 600, which is connected to the output shaft 311 and is used to connect to the air flow generator to form a negative pressure at the fixture 200 to vacuum-adsorb and pick up the workpiece.

[0052] See also Figure 4 and Figure 5 The stop structure 420 can be locked to the motor 310 or the beam 120 by the threaded fastener 20 .

[0053] See also Figure 8 , combined with Figure 3In one embodiment, the beam 120 includes a housing and a fixing plate 121. The fixing plate 121 is connected to the housing, and the two together form an installation space 130. The drive module can be disposed in the installation space 130. In one embodiment, the stop structure 420 can be directly disposed on the fixing plate 121.

[0054] See also Figure 8 In one embodiment, the carrier assembly 11 further includes a pitch driving member 500 , which is disposed on the beam 120 and connected to the stand 110 to drive the beam 120 to rotate relative to the stand 110 around the second axis O2 .

[0055] See also Figure 6 , combined with Figure 5 In one embodiment, the follower structure 410 can be configured in an annular shape to securely connect to the output shaft 311 of the motor 310. The follower structure 410 and the stop structure 420 can be sleeved onto the outside of the other, so that the first stop portion 401 and the second stop portion 402 can be stably engaged when in a specific position.

[0056] See also Figure 6 In one embodiment, the first limiting portion 401 includes a first guide surface 403 and a first stop surface 404, which are arranged sequentially along the rotational circumference of the jig 200. During forward rotation of the jig 200, i.e., during forward rotation of the follower structure 410 relative to the stop structure 420, the first limiting portion 401 can move relative to the first limiting portion 401 to a position where its first guide surface 403 and the second limiting portion 402 abut against each other. At this point, the second limiting portion 402 elastically moves from its initial position to a relief position due to the abutment of the first guide surface 403, thereby avoiding the relative rotational path of the first limiting portion 401 and allowing the first limiting portion 401 and the second limiting portion 402 to relatively pass over each other's area.

[0057] During the reverse rotation of the fixture 200, the first limiting portion 401 can move relative to the first stop surface 404 of the first limiting portion 401 to abut against the second limiting portion 402 in the initial position. The first stop surface 404 firmly abuts against the second limiting portion 402 in the initial state to limit the relative rotation between the two.

[0058] See also Figure 6In one embodiment, the follower structure 410 has a first limiting portion 401, and the stop structure 420 has a second limiting portion 402. That is, of the first limiting portion 401 and the second limiting portion 402, the first limiting portion 401 is the actively moving portion. The follower structure 410 includes a main body ring 411, which is connected to the fixture 200 and coaxially arranged. The first limiting portion 401 protrudes from the outer peripheral wall of the main body ring 411. Among them, one side of the first introduction surface 403 can be smoothly connected to the outer peripheral wall of the main body ring 411, and the other side of the first introduction surface 403 gradually turns outward relative to the main body ring 411. That is, the first introduction surface 403 is outwardly inclined relative to the outer wall of the main body ring 411, which facilitates the elastic movement of the second limiting portion 402. The other side of the first introduction surface 403 (ie the side relatively turned outward) can also form a stepped structure with the outer peripheral wall of the main body ring 411 . The first stop surface 404 is a stepped surface, so the first stop surface 404 can abut against the second limiting portion 402 for positioning.

[0059] The stop member 400 further includes a fixing base 430 and an elastic member 440. The fixing base 430 defines an inner cavity 431. The fixing base 430 covers the follower structure 410, and the follower structure 410 is located within the inner cavity 431. The second limiting portion 402 is provided on the fixing base 430, and the elastic member 440 is connected between the fixing base 430 and the stop structure 420.

[0060] During the forward rotation of the jig 200, when the first limiting portion 401 moves relative to the jig 200 to a position where the first guide surface 403 and the second limiting portion 402 abut each other, the outward-turned, inclined portion of the first guide surface 403 gradually pushes against the second limiting portion 402, causing the second limiting portion 402 to move from its initial position to a relief position and compress the elastic member 440. Thus, the second limiting portion 402, in its relief position, avoids the rotational path of the first limiting portion 401, allowing the first limiting portion 401 to pass through the area where the second limiting portion 402 is located, allowing the jig 200 to rotate smoothly in the forward direction. Furthermore, after the first limiting portion 401 passes over the second limiting portion 402, the second limiting portion 402, driven by the elastic member 440, returns to its position before the abutment by the first limiting portion 401 (i.e., its initial position), facilitating reverse limiting.

[0061] During the reverse rotation of the jig 200, the first limiting portion 401 moves relative to the jig 200 until the first stop surface 404 abuts against the second limiting portion 402 in its initial position. On the one hand, the second limiting portion 402 is configured to elastically move from its initial position to a relief position when driven by forward rotation. Therefore, when driven by reverse rotation, the second limiting portion 402 in its initial position is obviously unable to elastically move to the relief position, thus failing to form a relief position and thus restricting the first limiting portion 401. On the other hand, because the first stop surface 404 is a stepped surface, it hardly allows the second limiting portion 402 to elastically move. Thus, the second limiting portion 402, by abutting against the first stop surface 404, can limit the rotation of the first limiting portion 401 and the jig 200, facilitating zero-position calibration of each jig 200.

[0062] See also Figure 5 In one embodiment, the body ring 411 can be fastened to the output shaft 311 of the motor 310 by the threaded fastener 20 so as to rotate together with the fixture 200. Furthermore, the body ring 411 is provided with a threaded hole 412 for the threaded fastener 20 to pass through.

[0063] See also Figure 6 In one embodiment, a certain interval can be preset between the fixing seat 430 and the main body ring 411 to facilitate the arrangement of the first limiting portion 401 and the second limiting portion 402.

[0064] Please continue reading Figure 6 , combined with Figure 5 In one embodiment, the stop structure 420 includes a latch 421 and a rotating portion 422. The rotating portion 422 is rotatably engaged with the fixed seat 430. One end of the latch 421 is connected to the rotating portion 422, while the other end of the latch 421 is configured as the second stop 402 and extends into the inner cavity 431. In other words, in this embodiment, the first guide surface 403 can push the latch 421 to elastically swing radially outward around the rotating portion 422, allowing the first stop 401 to pass through the area where the second stop 402 is located.

[0065] Furthermore, under the push of the first guide surface 403, the latch 421 can be completely retracted into the fixed seat 430 (i.e., moved to the avoidance position). Alternatively, under the push of the first guide surface 403, a portion of the latch 421 (i.e., the second limiting portion 402) can remain within the inner cavity 431, with a certain distance from the outer wall of the main ring 411 (i.e., moved to the avoidance position), allowing the first limiting portion 401 to pass through.

[0066] See also Figure 6 , combined with Figure 9In one embodiment, the fixing seat 430 is provided with a swinging groove 432, and the stop structure 420 is disposed in the swinging groove 432. The rotating portion 422 is rotatably engaged with the bottom wall of the swinging groove 432, and the elastic member 440 abuts between the latch tongue 421 and the side wall of the swinging groove 432, so as to elastically drive the latch tongue 421 to return to its initial position when the latch tongue 421 is not pushed by the first guide surface 403. Figure 9 The maximum distance between the first limiting portion 401 and the first axis O1 is d0, which is the radially outermost side of the first guide surface 403. The swing groove 432 includes a first sidewall 433 and a second sidewall 434. The first sidewall 433 and the second sidewall 434 are arranged opposite each other in the swing direction of the latch 421. The elastic member 440 pushes the latch 421 toward the first sidewall 433 or maintains contact with the first sidewall 433. When the latch 421 abuts the first sidewall 433, the latch 421 is in the initial position, and the shortest distance between the latch 421 and the first axis O1 is d1, where d1 < d0. When the latch 421 abuts the second sidewall 434, the latch 421 is in the avoidance position, and the shortest distance between the latch 421 and the first axis O1 is d2, where d2 > d0. That is, the latch tongue 421 in the avoidance position is closer to the radial outside than the latch tongue 421 in the initial position.

[0067] During the forward movement of the jig 200, when the first guide surface 403 abuts the second stop portion 402, the first guide surface 403 can push the latch 421 toward the second sidewall 434, causing the latch 421 to swing radially outward from its initial position to a relief position to allow the first stop portion 401 to pass. After the first stop portion 401 passes the area where the second stop portion 402 is located, the elastic member 440 pushes the latch 421 to swing radially inward to return to its initial position, thereby abutting the first stop surface 404.

[0068] During the reverse movement of the jig 200, the first limiting portion 401 can move relative to the first stop surface 404 and the first side wall 433 to abut opposite sides of the latch 421. At this point, the first side wall 433 supports the latch 421, ensuring that it is firmly in contact with the first stop surface 404, thereby defining the circumferential position of the jig 200. In short, when the latch 421 and its second limiting portion 402 are in their initial positions, the follower structure 410 can rotate to abut the side of the latch 421 facing away from the first side wall 433 as the jig 200 rotates in the reverse direction. At this point, the first side wall 433 supports the latch 421, ensuring that the latch 421 and its second limiting portion 402 are firmly in contact with the first limiting portion 401, limiting the rotation of the follower structure 410 and maintaining the jig 200 in the aforementioned predetermined fixed position.

[0069] Of course, the second limiting portion 402 is not limited to being configured to swing elastically. Figure 10 and Figure 11 In another embodiment, the stop structure 420 includes a latch 423, which is retractably mounted within the fixed seat 430. One end of the latch 423 is configured as the second stopper 402 and extends into the inner cavity 431. The elastic member 440 abuts between the other end of the latch 423 and the fixed seat 430. In other words, in this embodiment, the first guide surface 403 can push the latch 423 toward the fixed seat 430, causing it to elastically retract from its initial position to a relief position, thereby avoiding the rotational path of the first stopper 401. Similarly, under the push of the first guide surface 403, the latch 423 can completely retract into the fixed seat 430. Alternatively, under the push of the first guide surface 403, a portion of the latch 423 (i.e., the second stopper 402) can remain within the inner cavity 431, with a certain gap between it and the outer circumferential wall of the body ring 411 to allow the first stopper 401 to pass through.

[0070] Please continue reading Figures 10 to 12 In one embodiment, the fixing base 430 defines a telescopic slot 435 and a limiting slot 436. The telescopic slot 435 and the limiting slot 436 are interconnected and extend along a reference direction. The stop structure 420 further includes a limiting body 424, which is connected to a latch 423. The latch 423 slidably engages with the telescopic slot 435. The limiting body 424 slidably engages with the limiting slot 436, allowing the stop structure 420 to move along the reference direction to a position where the limiting body 424 abuts against opposing side walls of the limiting slot 436 (i.e., the third and fourth side walls described below). The limiting slot 436 includes third and fourth side walls disposed oppositely in the reference direction. The elastic member 440 pushes against the latch 423, causing the limiting body 424 to approach or maintain contact with the third side wall when not being pushed by the first limiting portion 401. When the latching tooth 423 abuts the third sidewall, it is in its initial position. The shortest distance between the latching tooth 423 and the first axis O1 is d3, where d3 < d0. When the latching tooth 423 abuts the fourth sidewall, it is in its retracted position. The shortest distance between the latching tooth 423 and the first axis O1 is d4, where d4 > d0. In other words, the latching tooth 423 in the retracted position is radially closer to the outside than in its initial position.

[0071] During the forward movement of the jig 200, when the first guide surface 403 abuts the second stop portion 402, the first guide surface 403 pushes against the latching teeth 423, causing the stopper 424 to move toward the fourth sidewall. This causes the latching teeth 423 to retract radially outward from their initial position to a relief position, allowing the first stop portion 401 to pass through. When the first stop portion 401 passes the area where the second stop portion 402 is located, the elastic member 440 pushes the latching teeth 423 radially inward to extend back to their initial position, allowing them to abut against the first stop surface 404.

[0072] During the reverse movement of the jig 200, the first limiting portion 401 can move relative to the first stop surface 404 to abut the latching tooth 423 (i.e., the initial position). At this point, the walls of the expansion slot 435 can support the latching tooth 423, ensuring that the latching tooth 423 and the first stop surface 404 are firmly in contact, thereby limiting the circumferential position of the jig 200.

[0073] In one embodiment, the portion of the second limiting portion 402 for cooperating with the first limiting portion 401 can be constructed into a shape that is compatible with the first introduction surface 403 and the first stop surface 404, so that the fixture 200 can pass smoothly when rotating forward and be firmly positioned when rotating backward.

[0074] See also Figures 6 to 11 As one example, the second limiting portion 402 includes a second introduction surface 405 and a second stop surface 406. The second introduction surface 405 and the second stop surface 406 are arranged sequentially in the rotational circumferential direction of the jig 200. During forward rotation of the jig 200, the first limiting portion 401 can move to a position where it slides with the first introduction surface 403 and the second introduction surface 405. The angle of the second introduction surface 405 matches the angle of the first introduction surface 403, so that the first limiting portion 401 can smoothly push the second limiting portion 402 to elastically move. During reverse rotation of the jig 200, the first limiting portion 401 can move to a position where the first stop surface 404 abuts the second stop surface 406. The angle of the second stop surface 406 matches the angle of the first stop surface 404 to form a stable abutment.

[0075] In some embodiments, the positions of the first limiting portion 401 and the second limiting portion 402 may be interchanged, i.e., the follower structure 410 includes the elastically movable second limiting portion 402, and the stop structure 420 includes the first limiting portion 401. In this case, the arrangement of the second limiting portion 402 on the body ring 411 is similar to the arrangement of the second limiting portion 402 on the fixing seat 430 described above.

[0076] It should be noted that, in some embodiments, the first limiting portion 401 and / or the second limiting portion 402 can also be configured to have the ability to elastically deform so that they elastically deform when abutting against each other, so that the two can move elastically to avoid each other's rotation paths.

[0077] As an example, see Figure 13 In one embodiment, at least one of the first limiting portion 401 and the second limiting portion 402 is configured as an elastic hook 407. When the first limiting portion 401 abuts the second limiting portion 402, the elastic hook 407 bends and deforms to avoid the relative rotation path of the first limiting portion 401 or the second limiting portion 402. Furthermore, the second limiting portion 402 can be configured as an elastic hook 407, which is disposed on a fixed seat 430. When the first limiting portion 401 rotates forward with the jig 200 until its first guide surface 403 abuts the elastic hook 407, the first guide surface 403 can push the elastic hook 407 radially outward and elastically turn outward. When the first limiting portion 401 rotates backward with the jig 200 until its first stop surface 404 abuts the elastic hook 407, the force applied by the first limiting portion 401 cannot drive the elastic hook 407 to turn outward. It is easy to understand that by adjusting the positional relationship between the follower structure 410 and the elastic hook 407, the distribution position of the first stop surface 404 and its extension direction and other factors, the force applied to the elastic hook 407 by the first limit portion 401 through the first stop surface 404 cannot drive the elastic hook 407 to flip outward.

[0078] It should be emphasized that the elastic hook 407 is not limited to being configured as the second limiting portion 402. The elastic hook 407 can also be configured as the first limiting portion 401. In this case, the elastic hook 407 can be connected to the outer peripheral wall of the body ring 411, and the first introduction surface 403 and the first stop surface 404 are distributed at the free end of the elastic hook 407. The cooperation between the first introduction surface 403 and the first stop surface 404 and the second limiting portion 402 is similar to that described above and will not be repeated here.

[0079] In some other embodiments, the relative positions of the follower structure 410 and the fixed seat 430 can also be interchanged, that is, the follower structure 410 can be configured to cover the outside of the fixed seat 430. In this case, the follower structure 410 can still include the first limiting portion 401, and the second limiting portion 402 is provided on the fixed seat 430. Figure 14As one example, the first limiting portion 401 protrudes from the inner circumferential wall of the main body ring 411. One side of the first guide surface 403 smoothly transitions to the inner circumferential wall of the main body ring 411, while the other side of the first guide surface 403 gradually turns inward relative to the main body ring 411, forming a stepped structure with the inner circumferential wall of the main body ring 411. The first stop surface 404 is a stepped surface. The fixing seat 430 extends inward from the main body ring 411 to facilitate engagement between the second limiting portion 402 and the first limiting portion 401. It will be appreciated that the internal and external positions of the follower structure 410 and the fixing seat 430 are interchanged in this embodiment compared to the other embodiments. Therefore, the positioning of the first limiting portion 401 and the second limiting portion 402 in the aforementioned embodiments can be adjusted accordingly to adapt the stop member 400 provided in this embodiment. For example, the first guide surface 403 is used to push the latch tongue 421 or the latch tooth 423 to elastically move radially inward from the initial position to the avoidance position, so as to allow the first limiting portion 401 to smoothly pass through the area where the second limiting portion 402 is located.

[0080] The embodiments of the present application do not limit the shape and type of the fixture 200 , and the fixture 200 can be adaptively configured according to the shape, size, and type of the workpiece.

[0081] See also Figure 1 and Figure 2 In one embodiment, the number of carrier assemblies 11 can be multiple, and the multiple carrier assemblies 11 are arranged side by side in the first direction S1. Furthermore, the detection device 10 also includes a transfer platform 13, which is connected to the multiple carrier assemblies 11 respectively to drive each carrier assembly 11 to move along the first direction S1.

[0082] In one embodiment, the beam 120 can rotate around the stand 110 to a position where the side where the jig 200 is located faces the other carrier assembly 11. When the sides where the jig 200 is located on the beam 120 of two adjacent carrier assemblies 11 face each other, the two can transfer workpieces to each other. It can be understood that the jigs 200 of the two carrier assemblies 11 can pick up different areas of the workpiece respectively, and at this time, one of them releases the workpiece and transfers the workpiece to the other. In this embodiment, the two adjacent carrier assemblies 11 can be driven by the transfer platform 13 to move to a position close enough to each other so that the jigs 200 of the two carrier assemblies 11 can pick up the workpiece at the same time. In addition, since the two carrier assemblies 11 pick up different parts of the workpiece respectively, the workpiece carried by the two carrier assemblies 11 to the field of view of the detection assembly 12 can expose different parts, so that the detection assembly 12 can perform a comprehensive inspection of the workpiece.

[0083] Please continue reading Figure 1 and Figure 2In one embodiment, the inspection device further includes a base 14, on which both the inspection assembly 12 and the carrier assembly 11 are located. The inspection assembly 12 further includes a gantry 15 and an inspection module 12a. The gantry 15 spans above the transfer platform 13, and the inspection module 12a is located on the gantry 15 so as to be at a higher position relative to the carrier assembly 11 for easier inspection.

[0084] Furthermore, the detection assembly 12 further includes a longitudinal movement module 16 , which is connected to the detection module 12 a to drive the detection module 12 a to move longitudinally.

[0085] In one embodiment, the longitudinal movement module 16 can drive the detection module 12a to longitudinally move along a second direction S2, where the second direction S2 intersects the first direction S1. Furthermore, the second direction S2 can be perpendicular to the first direction S1.

[0086] See also Figure 1 and Figure 2 In one embodiment, the number of detection modules 12a can be multiple, and the multiple detection modules 12a can correspond one-to-one to the multiple jigs 200 to respectively detect the workpieces picked up by each jig 200. The multiple jigs 200 can be arranged on the beam 120 at intervals along the second axis O2, and the multiple detection modules 12a can be arranged on the gantry 15 at intervals along the third direction S3, and the third direction S3 is parallel to the second axis O2. Furthermore, the detection assembly 12 also includes a first carrier plate 17, and the multiple detection modules 12a are arranged on the first carrier plate 17 at intervals along the third direction S3. The longitudinal movement module 16 is connected between the gantry 15 and the first carrier plate 17 so as to simultaneously drive the multiple detection modules 12a to move along the second direction S2. The third direction S3 can intersect with the second direction S2. Furthermore, the first direction S1, the second direction S2 and the third direction S3 are perpendicular to each other.

[0087] See also Figure 1 and Figure 2 In one embodiment, the inspection assembly 12 further includes a translation module 18 and a second carrier 19. The longitudinal translation module 16 is disposed on the second carrier 19, and the first carrier 17 is movably disposed on the second carrier 19 along the second direction S2. The longitudinal translation module 16 is configured to drive the first carrier 17 to move relative to the second carrier 19 along the second direction S2. The translation module 18 is disposed on the gantry 15 and connected to the second carrier 19 to drive the second carrier 19 and the components disposed thereon to move along the third direction S3, thereby aligning the inspection module 12a with the jigs 200 along the third direction S3.

[0088] In one embodiment, multiple transport assemblies 11 can share the detection module 12a, that is, the transfer platform 13 carries multiple transport assemblies 11 to positions aligned with the detection module 12a, thereby reducing the idle waiting time of the detection module 12a and improving its utilization.

[0089] The technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above-mentioned embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0090] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the spirit of the present application, and these modifications and improvements fall within the scope of protection of the present application. Therefore, the scope of protection of the present patent application shall be determined by the appended claims.

Claims

1. A carrier assembly, characterized in that: The carrier assembly comprises: Rack components; A plurality of jigs are rotatably mounted on the frame component and are used to pick up workpieces; A driving module, the driving module being connected to the plurality of jigs to uniformly drive the plurality of jigs to rotate; A stop member, wherein the number of the stop members is multiple, and the stop member includes a follower structure and a stop structure, the multiple follower structures are connected to the multiple jigs in a one-to-one correspondence and rotate therewith, and the multiple stop structures are fixedly connected to the frame member; Wherein, one of the following structure and the stopping structure has a first limiting portion, and the other has a second limiting portion, the second limiting portion being elastically movable between an initial position and an avoidance position, and the second limiting portion in the avoidance position avoids the relative rotation path of the first limiting portion; During the forward rotation of the follower structure relative to the stop structure, the first limiting portion can move relatively to push the second limiting portion from the initial position to the avoidance position; During the reverse rotation of the follower structure relative to the stop structure, the first limiting portion can move relatively to a position where it abuts against the second limiting portion at the initial position in a reverse direction.

2. The carrier assembly according to claim 1, characterized in that The follower structure includes a main body ring, the main body ring is connected to the fixture and is coaxially arranged, and the first limiting portion is protruded from the outer peripheral wall of the main body ring; The stopping component also includes a fixing seat and an elastic member. The fixing seat is provided with an inner cavity. The fixing seat covers the outside of the follower structure. The follower structure is located in the inner cavity. The second limiting portion is provided on the fixing seat. The elastic member is connected between the fixing seat and the stopping structure.

3. The carrier assembly according to claim 2, characterized in that The stop structure includes a latch and a rotating portion, the rotating portion is rotatably engaged with the fixing seat, one end of the latch is connected to the rotating portion, and the other end of the latch is configured as the second limiting portion and extends into the inner cavity.

4. The carrier assembly according to claim 3, characterized in that The fixing seat is provided with a swinging groove, the stop structure is provided in the swinging groove, the rotating portion is rotatably engaged with the bottom wall of the swinging groove, and the elastic member abuts between the latch and the side wall of the swinging groove; The jig rotates about a first axis, a maximum distance between the first limiting portion and the first axis is d0, the swing groove includes a first side wall and a second side wall arranged opposite to each other in the swing direction of the latch, and the elastic member pushes the latch to approach the first side wall or maintain contact with the first side wall; When the latch tongue abuts against the first side wall, the shortest distance from the latch tongue to the first axis is d1, d1 < d0; When the latch tongue abuts against the second side wall, the shortest distance from the latch tongue to the first axis is d2, where d2>d0.

5. The carrier assembly according to claim 2, characterized in that The stop structure includes a latch, which is telescopically arranged on the fixing seat. One end of the latch is configured as the second limiting portion and extends into the inner cavity. The elastic member abuts between the other end of the latch and the fixing seat.

6. The carrier assembly according to claim 5, characterized in that The fixing seat is provided with a telescopic slot and a limiting slot that are interconnected, and the telescopic slot and the limiting slot both extend along the reference direction. The stop structure further includes a limiting body, the limiting body is connected to the latch, the latch is in sliding engagement with the telescopic slot, and the limiting body is in sliding engagement with the limiting slot; The jig rotates about a first axis, a maximum distance between the first limiting portion and the first axis is d0, the limiting groove includes a third side wall and a fourth side wall arranged opposite to each other in the reference direction, and the elastic member pushes against the latching tooth so that the limiting body approaches the third side wall or maintains contact with the third side wall when not pushed by the first limiting portion; When the latching tooth abuts against the third side wall, the shortest distance from the latching tooth to the first axis is d3, d3 < d0; When the latching tooth abuts against the fourth side wall, the shortest distance from the latching tooth to the first axis is d4, where d4>d0.

7. The carrier assembly according to claim 1, wherein: The follower structure includes a main body ring, the main body ring is connected to the fixture and is coaxially arranged, and the first limiting portion is protruded from the inner peripheral wall of the main body ring; The stopping component further includes a fixing seat and an elastic member. The fixing seat extends inwardly from the main body ring. The second limiting portion is provided on the fixing seat. The elastic member is connected between the fixing seat and the stopping structure.

8. The carrier assembly according to claim 1, wherein: The follower structure includes a body ring, which is connected to the fixture and coaxially arranged, and at least one of the first limiting portion and the second limiting portion is configured as an elastic hook; When the first limiting portion abuts against the second limiting portion, the elastic hook bends and deforms to avoid the relative rotation path of the first limiting portion.

9. The carrier assembly according to claim 1, wherein: The frame component includes a vertical frame and a beam frame, the jig is rotatably mounted on the beam frame around a first axis, and the beam frame is rotatably mounted on the vertical frame around a second axis; The driving module includes a driver and multiple motors, the multiple motors are connected to the driver in parallel, the driver drives the multiple motors uniformly, the multiple motors are fixed to the beam and connected to the multiple fixtures one by one, and the stop structure is fixed to the fixed part of the motor or fixed to the beam.

10. A detection device, characterized in that: The detection device includes a detection component and a carrying component according to any one of claims 1 to 9.

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