Detection device and method of small hole part detection device

Abstract

The invention discloses a device and a method for detecting small hole parts in the technical field of part detection. The small hole type part detection device comprises a marble damping platform, a double-coordinate displacement platform, a to-be-detected part fixing assembly, a visual detection mechanism and a contact type measurement mechanism. The double-coordinate displacement platform can move on the marble damping platform in the X-Y direction. The to-be-detected part fixing assembly is arranged on the double-coordinate displacement platform and used for obliquely fixing a to-be-detected hole part, the visual detection mechanism is installed on the marble damping platform and used for visually detecting the to-be-detected hole part, and the contact type measuring mechanism is installed on the marble damping platform and used for measuring the to-be-detected hole part. And measuring the contour data of the in-hole chamfer of the to-be-measured hole part and the perpendicularity of the to-be-measured hole part. The roundness and the coaxiality are measured through non-contact measurement. The device can solve the problem that a contact type measuring device cannot be used for measuring the chamfer due to the fact that the hole size of a hole part is long and narrow, and meets the requirement for integrated detection of all positions of the part.

Description

Technical Field

[0001] The present invention relates to the technical field of parts detection, and in particular to a detection device and method for detecting small hole parts. Background Art

[0002] With the rapid development of the manufacturing industry and the increasing demand for product quality, industrial vision measurement and profiling technologies face ever-increasing demands for accuracy, speed, and adaptability. However, existing technologies suffer from significant shortcomings in these areas, making it difficult to meet growing production demands. These limitations are particularly pronounced in applications such as high-precision measurement, complex surface inspection, and high-speed production lines. Industrial vision measurement technology primarily relies on image processing and computer vision algorithms. A camera captures images of the object being measured and uses image processing algorithms to extract information such as feature points, edges, and contours, ultimately calculating parameters such as the object's size, shape, and position. Common industrial vision measurement systems include 2D and 3D vision systems. 2D vision systems are primarily used for measuring flat objects, while 3D vision systems utilize technologies such as structured light and laser scanning to measure three-dimensional objects. Existing technologies typically use telecentric lenses and CCD cameras to inspect chamfers on hole-type parts. 2D non-contact vision inspection involves capturing images of the part under a specific light source (such as a ring light or backlight) to ensure clear images and distinct features. Subsequently, the image quality is optimized through pre-processing methods such as filtering, binarization, and edge enhancement. Next, features such as the part's geometric dimensions and surface texture are extracted using edge detection, template matching, or deep learning algorithms.

[0003] For contact measurement, profilometers are widely used in fields such as machining, automotive manufacturing, and aerospace. Profilometers use a probe to scan an object's surface, acquiring surface profile data and subsequently analyzing parameters such as the object's shape, size, and surface roughness. Common profilometers include contact profilometers, laser profilometers, and white light interferometers. Contact measurement, where the probe makes contact with the surface of the object being measured, offers high accuracy but is prone to surface damage, particularly when measuring soft materials or precision parts. While non-contact measurement avoids the damage associated with contact measurement, its accuracy is affected by factors such as ambient light and surface reflectivity. This makes it particularly difficult to guarantee accuracy when measuring highly reflective or transparent surfaces. When dealing with small, precise parts, such as those in aerospace, technological breakthroughs in algorithm fitting are required. These systems are not as precise and reliable as contact measurement. The accuracy of industrial vision measurement systems is affected by numerous factors, including camera resolution, lighting conditions, and the accuracy of image processing algorithms. Measurement accuracy can be significantly reduced in complex environments, such as those with uneven lighting and significant background interference. Existing vision measurement systems require a high computational workload when processing high-resolution images, resulting in poor real-time performance and difficulty meeting the demands of high-speed production lines. Different objects may require different lighting conditions, camera parameters, and image processing algorithms, making existing vision measurement systems often lacking sufficient adaptability to meet diverse measurement needs. High-precision industrial vision measurement systems typically require high-resolution cameras, high-performance image processing hardware, and complex algorithms, resulting in high system costs and limited adoption among small and medium-sized enterprises. Summary of the Invention

[0004] The purpose of this section is to summarize some aspects of the embodiments of the present invention and briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section and the abstract and title of this application to avoid blurring the purpose of this section, the abstract and the title of the invention, and such simplifications or omissions should not be used to limit the scope of the present invention.

[0005] Therefore, the object of the present invention is to provide a detection device and method for detecting small hole parts to solve the problems raised in the above background technology.

[0006] To solve the above technical problems, according to one aspect of the present invention, the present invention provides the following technical solutions: A device for detecting small hole parts, comprising: marble shock-absorbing platform; Dual-axis displacement platform, which can move along XY direction on the marble shock-absorbing platform; The parts fixing assembly is arranged on the dual-coordinate displacement platform to fix the hole parts to be measured at an oblique angle of 60°; A visual inspection mechanism is installed on the marble shock-absorbing platform to perform visual inspection on the hole-type parts to be tested; A contact measuring mechanism is installed on the marble shock-absorbing platform to measure the contour data of the chamfer in the hole of the hole-type part to be measured and the verticality in the hole; Among them, during the inspection, the visual inspection mechanism preliminarily identifies the chamfered edge of the hole-type part to be tested, generates a two-dimensional contour of the chamfered area, and plans the contact measurement path of the contact measurement mechanism based on the pre-scan results.

[0007] As a preferred solution of the fine hole parts detection device described in the present invention, the part fixing assembly to be measured includes an inclined support with an inclined surface, a plurality of V-shaped positioning blocks and a stepper motor arranged on the inclined support, a coupling sleeve coaxial with the output end of the stepper motor and arranged on the inclined surface, and an electric push rod arranged on the inclined support that can press the hole part to be measured inserted into the coupling sleeve.

[0008] As a preferred solution of the device for detecting small hole parts described in the present invention, a silicone cushion is provided at the head end of the electric push rod.

[0009] As a preferred solution of the device for detecting small hole parts described in the present invention, the inclination angle of the inclined surface is 60°, ensuring that the top view of the part is coaxial with the lens during shooting.

[0010] As a preferred solution of the fine hole parts detection device described in the present invention, the visual detection mechanism includes vertical rods symmetrically arranged vertically on the marble shock-absorbing platform, horizontal rods vertically connected to the tops of the vertical rods, a focusing bracket arranged on the horizontal rods, and a telecentric lens arranged on the focusing bracket, and a CCD camera and a lens light source are placed behind the telecentric lens.

[0011] As a preferred solution of the fine hole parts detection device described in the present invention, the contact measurement mechanism also includes a column vertically arranged on the marble shock-absorbing platform and a profilometer arranged on the column and capable of being adjusted up and down, and the profilometer has a probe.

[0012] A method for detecting small hole parts, the steps are as follows: S1. Calibrate and reset the profilometer, dual-axis displacement platform, and telecentric lens components before testing. S2. After the hole part to be measured is inserted into the coupling sleeve, the electric push rod moves to press the hole part to be measured into the V-shaped groove of the V-shaped positioning block to ensure that the hole part to be measured is completely fitted with the 60° inclination angle of the oblique support; S3. Use a CCD camera to take an image of the initial position of the hole-type part to be tested, and use an edge detection algorithm to verify whether the hole-type part to be tested is clamped in place. If the deviation exceeds the threshold, the automatic electric push rod triggers re-clamping until all the detection target position data are displayed on the computer; S4. The dual-coordinate displacement platform moves the hole part to be measured toward the lower end of the telecentric lens using the recorded pulse position until the center of the hole part is exactly at the center point of the telecentric lens's observation range. After the movement is completed, photos are taken. High-resolution images of the chamfered area in the part hole are captured through the telecentric lens. The chamfered edge is preliminarily identified using Hough transform, and a two-dimensional profile of the chamfered area is generated. Based on the pre-scan results, the contact measurement path of the profilometer probe is planned to avoid possible interference areas. After the test is completed, the results are recorded on a computer. S5. Then, in the computer, the probe of the profiler sinks to the chamfer position in the hole according to the pre-planned path. The probe moves along the chamfer contour at a constant speed, collects time series coordinate data, and performs sliding average filtering on the raw data in real time to eliminate mechanical vibration noise. The edge of the part is scanned by the profiler to obtain contour data including the chamfer and adjacent chamfer areas and store the data as a time series coordinate sequence. The raw data is smoothed by moving average filtering, and the window width is dynamically adjusted according to the sampling density to achieve sliding window noise reduction. The maximum height point is searched within the first N sampling points to determine the center of the chamfer area, and then M points before and after the center point are intercepted as the initial fitting interval. Secondly, a robust circle fitting operation is performed to solve the failure problem of the traditional circle fitting algorithm when there is noise interference, local data missing or outliers. If the fitting residual exceeds the threshold, it is automatically marked as a potential defect area, triggering a re-inspection; S6. Rotational re-measurement and batch verification are then performed. By rotating the part pair one stroke at a time, the required chamfer radius of the part is continuously fitted at different chamfer positions. After recording, the profilometer is raised to a safe position, the part is released, and the lower stepper motor is driven to rotate the part 90°. The electric push rod then continues to press the part and the above operation is repeated. Based on the 6 measurement positions, it is determined whether the chamfer radius of the target position meets the requirements.

[0013] Compared with the prior art, the present invention has the following beneficial effects: 1. This device utilizes multimodal detection, combining non-contact visual pre-scanning with contact profilometer measurement, achieving a balance between efficiency and accuracy. Secondly, due to the small size and complex inner holes of small-pore parts, vertical and lateral measurement is impossible. Furthermore, the smooth inner walls have poor reflectivity and cannot be scanned with lasers. This invention utilizes a tilted probe for direct access to the chamfer location, meeting this inspection requirement with its high precision. Furthermore, an improved adaptive algorithm dynamically adjusts the filter window and fitting parameters to accommodate different apertures (4-8mm) and chamfer shapes.

[0014] 2. Compared with traditional clamping for micro-hole parts, the clamping portion of this device has the advantage of convenient clamping. Traditional clamping of micro-parts mainly relies on a multi-claw mechanism for stable grasping. The mechanism is cumbersome and too large for the part, resulting in low detection efficiency within the limited space and impractical for large-scale batch testing. The clamping portion of this device, on the other hand, uses a V-shaped block to place the cylindrical part with a hole in the V-shaped groove. The side positioning of the block aligns the part on the centerline, and then clamps it using an auxiliary clamping mechanism. A coupling is installed at the bottom to provide additional support. During testing, the part can be quickly located and clamped conveniently.

[0015] 3. Fast detection speed. Through the high response and high speed of the displacement platform and the optimization of the detection sequence of the profilometer and camera, the detection time of a single part is 100 seconds, and the detection of a batch of parts only takes 11 minutes from start to finish. 4. Measure roundness and coaxiality through non-contact measurement, automated and mass-produced using a precision dual-axis displacement platform. This device is widely used in aerospace surface inspection, structural health monitoring, and automotive body inspection. It has been proven to achieve a 3μm accuracy on inspected parts. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the present invention will be described in detail below with reference to the accompanying drawings and detailed embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be derived from these drawings without inventive effort. Among them: Figure 1 This is a schematic diagram of the overall structure of a device for detecting small hole parts according to the present invention; Figure 2 This is a schematic structural diagram of a fixing assembly for a part to be tested in a device for detecting parts with small holes according to the present invention; Figure 3 The figure is a flow chart of a method for detecting parts with small holes according to the present invention. DETAILED DESCRIPTION

[0017] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0018] Figure 1-Figure 2 The diagram shows a schematic diagram of a structure of an embodiment of a small hole part detection device of the present invention. Figure 1-Figure 3 The present embodiment provides a device for detecting small hole parts, the main body of which includes a marble shock-absorbing platform 100, a dual-coordinate displacement platform 200, a fixed assembly 300 for the part to be measured, a visual inspection mechanism 400 and a contact measurement mechanism 500.

[0019] The marble vibration-damping platform 100 is black marble with a size of 800×630×120 mm and is used to reduce the impact of environmental vibration on detection accuracy.

[0020] The dual-axis displacement platform 200 can be displaced along the X and Y axes on the marble damping platform 100. In this embodiment, it consists of three stacked planar modules: a mid-plane fixed to the bottom of the marble damping platform 100, where sensors, a lead screw, and a motor are mounted; and a top surface where the tilt fixture is mounted. The top surface has two flat surfaces milled on it for positioning the tilt fixture module and the precision dual-axis displacement platform. The platform uses a stepper motor to drive the lead screw, with two motors respectively moving the two coordinates to transport each part to its respective inspection position.

[0021] The part fixing assembly 300 to be measured is arranged on the dual-axis displacement platform 200 to fix the hole-type parts to be measured. In this embodiment, the part fixing assembly 300 to be measured includes an inclined support 310 with an inclined surface 310a, a plurality of V-shaped positioning blocks 320 and a stepper motor 330 arranged on the inclined support 310, a coupling sleeve 340 that is coaxial with the output end of the stepper motor 330 and is arranged on the inclined surface 310a, and an electric push rod 350 arranged on the inclined support 310 and capable of pressing the hole-type parts to be measured inserted into the coupling sleeve 340. Compared with other current devices, the advantage of the part fixing assembly 300 to be measured is its fast clamping and batch detection. The fixture assembly 300 utilizes minimal mechanisms to achieve faster clamping speeds. A coupling sleeve 340 is fabricated on the output shaft of the stepper motor 330 based on the characteristics and rotational requirements of the hole-type part and the shape of the part's hole. During clamping, the worker simply inserts the part into the coupling sleeve 340, then places the outside of the part against the side of the V-shaped positioning block 320, using it as a reference surface. The part is then pressed against the center end of the V-shaped positioning block 320 by the electric push rod 350, which automatically positions the part. This improves assembly efficiency compared to a fixture. To ensure that the part maintains a 60° inclination during measurement, the tilt angle of the inclined surface 310a is set to 60°, and the lens is also tilted 60° relative to the horizontal plane. This is because if the part is placed parallel to the probe 530 of the profilometer 520, the probe 530 cannot accurately measure the radius of the chamfer within the hole, let alone the verticality of the interior. By tilting the part, not only can the complete fillet profile of the hole be measured, but the verticality of the hole can also be determined based on the angle between the line in front of the fillet and the line measured behind it. A 60° angle can be used to address most chamfers with a diameter between 4 and 8 mm and a depth of less than 15 mm. The electric linear actuator 350 is equipped with a silicone cushion at the tip to prevent damage to the part surface during compression.

[0022] The visual inspection mechanism 400 is installed on the marble shock-absorbing platform 100 to perform visual inspection on the hole-type parts to be tested. In this embodiment, the visual inspection mechanism 400 includes a vertical rod 410 symmetrically arranged vertically on the marble shock-absorbing platform 100, a horizontal rod 420 vertically connected to the top of the vertical rod 410, a focusing bracket 430 arranged on the horizontal rod 420, and a telecentric lens 440 arranged on the focusing bracket 430. A CCD camera and a lens light source are placed behind the telecentric lens 440.

[0023] The contact measuring mechanism 500 is installed on the marble shock-absorbing platform 100 to measure the contour data of the chamfer in the hole of the hole-type part to be measured. It includes a column 510 vertically arranged on the marble shock-absorbing platform 100 and a profilometer 520 arranged on the column 510 and capable of being adjusted up and down. The profilometer 520 has a probe 530. The probe 530 of the profilometer 520 is made of diamond material, has a measuring range of ±20 mm, and a repeatability accuracy of ≤0.5 μm.

[0024] Combine Figure 1-Figure 3 In this embodiment, a device for detecting small hole parts is provided, and the specific detection method steps are as follows: S1. Calibrate and reset the profilometer 520, dual-coordinate displacement platform 200, and telecentric lens 440 components before testing. S2. After the hole part to be measured is inserted into the coupling sleeve 340, the electric push rod 350 moves to press the hole part to be measured into the V-shaped groove of the V-shaped positioning block 320 to ensure that the hole part to be measured is completely fitted with the 60° inclination angle of the inclined support 310; S3. Use a CCD camera to take an image of the initial position of the hole-type part to be measured, and use an edge detection algorithm to verify whether the hole-type part to be measured is clamped in place. If the deviation exceeds a threshold, the automatic electric push rod 350 triggers re-clamping; S4. The dual-coordinate displacement platform 200 moves the hole-type part to be measured toward the lower end of the telecentric lens 440 according to the recorded pulse position until the center of the hole-type part to be measured is exactly at the center point of the observation range of the telecentric lens 440. After the movement is completed, the picture is taken. The high-resolution image of the chamfered area in the part hole is captured through the telecentric lens 440. The chamfered edge is preliminarily identified using Hough transform, and a two-dimensional contour of the chamfered area is generated. Based on the pre-scan results, the contact measurement path of the profilometer probe is planned to avoid possible interference areas. After the inspection is completed, the results are recorded on the computer. S5. Then, in the computer, the probe 530 of the profiler 520 is lowered to the chamfer position in the hole according to the pre-planned path. The probe 530 moves along the chamfer profile at a constant speed to collect time series coordinate data. The raw data is subjected to real-time sliding average filtering to eliminate mechanical vibration noise. The edge of the part is scanned by the profiler to obtain contour data including the chamfered area and the adjacent chamfered area and the data is stored as a time series coordinate sequence. The raw data is smoothed using a moving average filter. The window width is dynamically adjusted according to the sampling density to achieve sliding window noise reduction. The maximum height point is searched within the first N sampling points to determine the center of the chamfered area, and M points before and after the center point are intercepted as the initial fitting interval. Secondly, a robust circle fitting operation is performed to solve the failure problem of the traditional circle fitting algorithm when there is noise interference, local data missing or outliers. If the fitting residual exceeds the threshold, it is automatically marked as a potential defect area, triggering a re-inspection. S6. Then, rotation re-test and batch verification are carried out. By rotating the part pair "one stroke and one turn" to continuously fit the required chamfer radius of the part at different chamfer positions: after recording, the profiler 520 is lifted to a safe position, the part is released and the lower end stepper motor 330 is driven to rotate the part 60 degrees. Then the electric push rod 350 continues to press the part and repeats the above operation. Based on the 6 measurement positions, it is fitted to determine whether the target position chamfer radius meets the requirements. In addition, to perform statistical analysis (e.g., CPK ≥ 1.33) on the inspection results of parts within the same batch (e.g., front / back rows), verify process stability, eliminate random single-measurement errors, and ensure batch consistency, the first part is inspected. The two front-row parts are then inspected in the same manner as above. Because the front and back-row parts are inspected at different positions, after the front-row parts are inspected, the computer will prompt to inspect the back-row parts. Confirmation is required before inspection begins. The inspection of the back-row parts is identical to the front-row parts. After the back-row parts are inspected, the inspection is paused, and the front and back rows of parts are manually swapped before resuming inspection. The above steps are repeated until all parts in the batch are measured. Parameters such as chamfer radius, roundness, and perpendicularity for each part are stored in a database, supporting historical data traceability. An inspection report is automatically generated, noting non-conforming items (e.g., red alerts) and providing corrective action suggestions. To minimize the impact of environmental factors on high-precision measurement, ambient temperature (±0.5°C) and vibration (≤0.1μm) are monitored in real time during the inspection process. Compensation algorithms are used to correct for thermal expansion and mechanical drift errors. If the environmental fluctuation exceeds the limit, the detection will be suspended and an alarm will be issued.

[0025] Although the present invention has been described above with reference to embodiments, various modifications may be made thereto and equivalent components may be substituted without departing from the scope of the present invention. In particular, as long as there are no structural conflicts, the various features of the embodiments disclosed herein may be combined with each other in any manner, and the omission of an exhaustive description of such combinations in this specification is solely for the sake of space and resource conservation. Therefore, the present invention is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. A device for detecting small hole parts, characterized in that: include: Marble shock-absorbing platform (100); A dual-coordinate displacement platform (200) capable of displacement along the XY directions on the marble damping platform (100); The part fixing assembly (300) to be measured is arranged on the dual-coordinate displacement platform (200) and fixes the hole-type part to be measured at an angle of 60°; A visual inspection mechanism (400) is installed on the marble shock-absorbing platform (100) to perform visual inspection on the hole-type parts to be inspected; A contact measuring mechanism (500) is mounted on the marble damping platform (100) to measure the profile data of the chamfer in the hole and the verticality in the hole of the hole-type part to be measured; During inspection, the visual inspection mechanism (400) preliminarily identifies the chamfered edge of the hole-type part to be inspected, generates a two-dimensional profile of the chamfered area, and plans a contact measurement path of the contact measurement mechanism (500) based on the pre-scanning result.

2. A small hole parts detection device according to claim 1, characterized in that: The part-to-be-tested fixing assembly (300) comprises an inclined support (310) having an inclined surface (310a), a plurality of V-shaped positioning blocks (320) and a stepping motor (330) arranged on the inclined support (310), a coupling sleeve (340) coaxial with the output end of the stepping motor (330) and arranged on the inclined surface (310a), and an electric push rod (350) arranged on the inclined support (310) and capable of pressing the hole-like part to be tested inserted into the coupling sleeve (340).

3. A hole parts detection device according to claim 2, characterized in that: A silicone cushion is provided at the head end of the electric push rod (350).

4. The device for detecting small hole parts according to claim 1, characterized in that: The inclined surface (310a) has an inclination angle of 60°.

5. The device for detecting small hole parts according to claim 1, characterized in that: The visual inspection mechanism (400) comprises a vertical rod (410) symmetrically arranged vertically on the marble shock-absorbing platform (100), a horizontal rod (420) vertically connected to the top of the vertical rod (410), a focusing bracket (430) arranged on the horizontal rod (420), and a telecentric lens (440) arranged on the focusing bracket (430), wherein a CCD camera and a lens light source are placed behind the telecentric lens (440).

6. The device for detecting small hole parts according to claim 1, characterized in that: The contact measurement mechanism (500) comprises a column (510) vertically arranged on the marble shock-absorbing platform (100) and a profilometer (520) arranged on the column (510) and capable of upward and downward adjustment. The profilometer (520) is provided with a probe (530).

7. A detection method for a small hole part detection device according to any one of claims 1 to 6, characterized in that: Here are the steps: S1. Calibrate and reset the profilometer (520), the dual-coordinate displacement platform (200), and the telecentric lens (440) components before the start of the test; S2. After the hole-like part to be measured is inserted into the coupling sleeve (340), the electric push rod (350) is actuated to press the hole-like part to be measured into the V-groove of the V-shaped positioning block (320), ensuring that the hole-like part to be measured is completely fitted with the 60° inclination angle of the oblique support (310), ensuring that the top view of the part is coaxial with the lens during shooting; S3, using a CCD camera to take an image of the initial position of the hole-like part to be tested, and verifying whether the hole-like part to be tested is clamped in place by an edge detection algorithm, and if the deviation exceeds a threshold, the automatic electric push rod (350) triggers re-clamping until all the detection target position data are displayed on the computer; S4, the dual-coordinate displacement platform (200) moves the hole-type part to be measured toward the lower end of the telecentric lens (440) by the recorded pulse position until the center of the hole-type part to be measured is exactly at the center point of the observation range of the telecentric lens (440), and starts taking pictures after the movement is completed. The chamfered area in the part hole is captured with high resolution through the telecentric lens (440), and the chamfered edge is preliminarily identified using Hough transform to generate a two-dimensional profile of the chamfered area. According to the pre-scanning result, the contact measurement path of the profilometer probe is planned to avoid possible interference areas, and the results are recorded on the computer after the detection is completed; S5. Then, in the computer, the probe (530) of the profiler (520) sinks to the chamfer position in the hole according to the pre-planned path, and the probe (530) moves along the chamfer profile at a constant speed to collect time series coordinate data. The original data is subjected to real-time sliding average filtering to eliminate mechanical vibration noise. The edge of the part is scanned by the profiler to obtain contour data including the chamfered area and the adjacent chamfered area and the data is stored as a time series coordinate sequence. The original data is smoothed by using a moving average filter. The window width is dynamically adjusted according to the sampling density to achieve sliding window noise reduction. The maximum height point is searched within the first N sampling points to determine the center of the chamfered area, and M points before and after the center point are intercepted as the initial fitting interval. Secondly, a robust circle fitting operation is performed to solve the failure problem of the traditional circle fitting algorithm when there is noise interference, local data missing or outliers. If the fitting residual exceeds the threshold, it is automatically marked as a potential defect area to trigger re-inspection. S6, then perform rotation re-test and batch verification, and continuously fit the required chamfer radius of the part at different chamfer positions by rotating the part pair "one stroke one turn"; after recording, the profilometer (520) is lifted to a safe position, the part is released, and the lower end stepper motor (330) is driven to rotate the part 90 degrees, and then the electric push rod (350) continues to press the part and repeat the above operation, and the target position chamfer radius is fitted based on the 6 measurement positions to determine whether it meets the requirements.

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