Five-axis linkage measuring device

Abstract

The utility model relates to a kind of five-axis linkage measuring device, including base, X-axis linear motor, Y-axis linear motor, custom Z-axis linear motor, A-axis rotary motor, C-axis rotary motor and product fixture platform;X-axis linear motor is located on base, Y-axis linear motor is located on X-axis slider, custom Z-axis is located on Y-axis slider, A-axis, C-axis are located on Z-axis output end, and product fixture platform is located on C-axis;Z-axis satisfies precision≤2.5um, stroke 150mm and has power-off protection.Measurement, reference element is not moved, product is moved with five-axis collaborative interpolation motion, realizes large area, four around arbitrary point and R angle / arc surface oblique angle measurement.The utility model solves the problem that existing equipment structure redundancy, flexibility is low, cannot measure large area and oblique angle, with the advantages of simple structure, high flexibility, high precision, low cost, easy maintenance, can be used as laboratory standard measurement equipment.

Description

Technical Field

[0001] This utility model relates to the field of visual inspection technology, and in particular to a five-axis linkage measurement device capable of detecting the gloss and color of the large surface and any points around the perimeter of products of different sizes. Background Technology

[0002] The 3C industry requires precise measurement of the color and gloss of the sides and main surfaces of products of different sizes and shapes (such as small buttons, watches, phones, tablets, Macs, etc.). The product size range is extremely wide, ranging from 1.5mm to 400mm.

[0003] The current testing equipment uses a 4+4 mode, such as Figure 1 As shown, this mode divides the X1+Y1+Z1+C axis and the X2+Y2+Z2+A axis into two modules. The bottommost large axis is the X-axis, on which mover 1 and mover 2 are installed. Mover 1 carries the X1, Y1, Z1, and C (C for rotation) axes, while mover 2 carries the X2, Y2, Z2, and A (A for flipping) axes.

[0004] The 4+4 mode operation flow is as follows: The operator places the product to be measured on the left-hand loading actuator 1. First, a photo is taken of point 1 on the side of the product. Then, guided by vision, the product is transferred to the color and gloss sensor via the X1Y1Z1C axis for measurement. Next, the C axis rotates 180° to switch to point 2 on the side of the product for photo taking. Again, guided by vision, the product is transferred to the color and gloss sensor via the X1Y1Z1C axis for measurement of point 2. After the side measurement of the product is completed, actuator 1 transfers the product to the upper and lower robotic arm positions. The robotic arm grippers descend to pick up the product and place it on the fixture of actuator 2. A-axis of actuator 2 rotates 90 degrees, and then the product is transferred to the photo taking position for photo taking. Guided by vision, the product is transferred to the large-area color and gloss sensor via the X2Y2Z2A axis for measurement. After measurement, the A-axis of the mover 2 flips back to its original position and transfers the product back to the position of the upper and lower robotic arms. The robotic arms descend to pick up the product and send it back to the mover 1. Finally, the mover 1 transfers the product to the OP position. The operator takes away the measured product and replaces the unmeasured product, repeating the above action process.

[0005] However, this 4+4 model has many drawbacks and problems:

[0006] 1. Due to the use of a two-unit moving module design, with one fixture on each module, a material handling module needs to be added between the two units. During the measurement process, after fixture #1 completes the side point measurement of the product, it needs to be transferred to the gripper, where the gripping robot picks up the product and transfers it to fixture #2. After fixture #2 rotates 90° along the A-axis to complete the large-area point measurement of the product, it needs to be picked up from fixture #2 and returned to fixture #1. Then, fixture #1 transfers the product to the manual unloading position for unloading. The entire design is redundant, with a large number of axes, resulting in a complex equipment operation process. Furthermore, when changing fixtures to accommodate different products, two fixtures and one gripper need to be replaced simultaneously, which is not only time-consuming but also difficult to debug, failing to meet the customer's need to switch between different products for testing in a short time.

[0007] 2. The main reason for adopting the 4+4 mode in the selection and design is the difficulty in selecting the Z-axis. The Z-axis needs to meet the requirements of accuracy ≤2.5um and stroke 150mm. However, ordinary ball screw modules cannot meet the high precision requirements of the Z-axis under heavy load conditions, and the wedge lifting mechanism cannot meet the high precision requirements due to its excessively long stroke. Utility Model Content

[0008] The technical problem to be solved by this utility model is to provide a five-axis linkage detection device, which firstly solves the problem of measuring the gloss and color of the large surface and any point around the perimeter of products of different sizes (including small buttons, watches, phones, tablets, Macs, etc.) at one station; secondly, solves the application scenario requirements of measuring oblique angle points such as the rounded corners and curved surfaces of products.

[0009] The technical solution adopted by this utility model to solve its technical problem is: a five-axis linkage measuring device, including a base, on which a five-axis linkage component is integrated; the five-axis linkage component includes an X-axis linear module, a Y-axis linear module, a Z-axis linear module, an A-axis rotary module, a C-axis rotary module, and a product fixture platform; the X-axis linear module is disposed on the base, the Y-axis linear module is disposed on the slider of the X-axis linear module, the Z-axis linear module is disposed on the slider of the Y-axis linear module, and the A-axis rotary module and the C-axis rotary module are disposed at the output end of the Z-axis linear module; the A-axis rotary module drives the C-axis rotary module to rotate; the product fixture platform is disposed on the C-axis rotary module; during measurement, the product is fixed on the product fixture platform, and the five-axis linkage component performs gloss and color measurement of the product's large surface and any points around it, as well as the measurement of the product's R-angle or the oblique angle of the curved surface, through five-axis interpolation.

[0010] Furthermore, the X-axis linear module and Y-axis linear module described in this utility model are linear motors.

[0011] Furthermore, the Z-axis linear module described in this utility model is a non-standard linear motor; the Z-axis linear module has an accuracy of ≤2.5um, a stroke of 150mm, and a power failure and drop protection device.

[0012] Furthermore, the output end of the Z-axis linear module of this utility model is connected to a lifting bracket, and the A-axis rotary motor of the A-axis rotary module is disposed on the side of the lifting bracket; the output end of the A-axis rotary motor is provided with a rotating arm, and the C-axis rotary motor of the C-axis rotary module is disposed on the rotating arm; the A-axis rotary motor drives the rotating arm to rotate, thereby driving the C-axis rotary module to rotate.

[0013] The beneficial effect of this utility model is that it solves the defects existing in the background technology.

[0014] 1. The mechanical structure is simple and the equipment operation process is simplified. Compared with the existing 4+4 mode structure, it eliminates the intermediate material picking and placing module and the product transfer steps between the two sets of moving modules, which greatly improves the measurement efficiency.

[0015] 2. The equipment is significantly more flexible. When it is necessary to switch between different products for measurement, only one positioning fixture needs to be replaced. Unlike the existing 4+4 mode structure, which requires the replacement of two fixtures and one gripper at the same time, the product changeover time is greatly shortened and the debugging difficulty is reduced. It can meet the needs of customers to switch between different products for testing in a short period of time.

[0016] 3. Through the flexible interpolation motion of the five axes, it can not only measure the position of irregular products, but also accurately measure the oblique angle of the product's R-angle or curved surface, thus expanding the measurement range and applicable scenarios of the equipment.

[0017] 4. The overall size of the equipment has been greatly reduced, the structure is compact, and the manufacturing cost has been reduced. At the same time, due to the simplification of the mechanical structure, the difficulty of equipment maintenance has also been significantly reduced, which facilitates the standardized management of laboratory equipment.

[0018] 5. This five-axis measurement device can provide data benchmarks for production line measurement equipment, and is used to determine whether the products on the production line are qualified. It is a true laboratory standard measurement device. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the existing 4+4 model;

[0020] Figure 2 This is a schematic diagram of the structure of this utility model;

[0021] In the diagram: 1. Base; 2. X-axis linear module; 3. Y-axis linear module; 4. Z-axis linear module; 5. A-axis rotary module; 6. C-axis rotary module; 7. Quick-change fixture; 8. Lifting bracket; 9. Rotating arm. Detailed Implementation

[0022] The present invention will now be described in further detail with reference to the accompanying drawings and preferred embodiments. These drawings are simplified schematic diagrams, illustrating only the basic structure of the present invention, and therefore only show the components relevant to the present invention.

[0023] like Figure 2 A five-axis linkage detection device is shown, comprising a base on which a five-axis linkage assembly is integrated. The five-axis linkage assembly includes an X-axis linear module, a Y-axis linear module, a Z-axis linear module, an A-axis rotary module, a C-axis rotary module, and a product fixture platform. The X-axis linear module is mounted on the base, the Y-axis linear module is mounted on the slider of the X-axis linear module, the Z-axis linear module is mounted on the slider of the Y-axis linear module, and the A-axis and C-axis rotary modules are mounted on the output end of the Z-axis linear module. The product fixture platform is mounted on the C-axis rotary module. A lifting bracket is connected to the output end of the Z-axis linear module, and the A-axis rotary motor of the A-axis rotary module is mounted on the side of the lifting bracket. A rotating arm is mounted on the output end of the A-axis rotary motor, and the C-axis rotary motor of the C-axis rotary module is mounted on the rotating arm. The A-axis rotary motor drives the rotating arm to rotate, thereby rotating the C-axis rotary module.

[0024] In this embodiment, the X-axis linear motor is a model with a length of 2500mm and a width of 500mm, which has high load-bearing capacity and motion stability, providing a solid foundation support for the entire five-axis structure. The Y-axis linear motor mounted on the base linear motor has a length of 670mm and a width of 224mm. This motor has high-precision motion control performance, ensuring accurate movement in the Y-axis direction. The Z-axis uses a non-standard customized linear motor. After multiple tests and optimizations, this Z-axis can stably meet the requirements of accuracy ≤2.5um and stroke 150mm, while maintaining good rigidity under heavy loads. It also has a built-in power failure and drop protection device, which can effectively prevent the Z-axis from falling and damaging the equipment or affecting the measurement accuracy due to accidental power failure. The A-axis and C-axis use high-precision rotary motors, whose rotational accuracy can meet the needs of measuring different angles of the product, and can achieve accurate rotation within a 360° range.

[0025] In the actual installation process, firstly, the X-axis linear motor is fixed on the horizontal worktable, ensuring that it is firmly installed and its levelness meets the requirements. Then, the Y-axis linear motor is installed on the slider of the X-axis linear motor, and is precisely positioned and fixed using special connectors and positioning pins to ensure that the perpendicularity error between the Y-axis and X-axis is within the allowable range. Next, the customized Z-axis is installed on the slider of the Y-axis linear motor, and is also precisely positioned and fixed to ensure that the perpendicularity between the Z-axis and Y-axis, as well as the perpendicularity of the Z-axis itself, meets the design requirements. Finally, the A-axis and C-axis are installed sequentially on the lifting bracket at the output end of the Z-axis. During the installation process, it is necessary to ensure that the rotation center axis positions of the A-axis and C-axis are accurate and coordinated with the motion axes of other axes.

[0026] The product fixture platform is custom-designed according to the shape and size of different products. It connects to the C-axis via a quick-connect structure for easy fixture changes. During product measurement, the operator selects the corresponding custom fixture based on the type of product to be measured and installs it on the product fixture platform on the C-axis. The product is then fixed in the fixture, ensuring accurate and stable positioning. The measuring equipment is started, and the measuring standard remains stationary. The control system, according to a preset measurement program, controls the X, Y, Z, A, and C axes to perform coordinated interpolation motion, moving the product to sequentially measure the gloss and color of various points around the perimeter and on the large surface (achieved through A-axis rotation). During the measurement process, the motion accuracy of each axis is monitored and fed back in real time by high-precision sensors to ensure the accuracy of the measurement data.

[0027] The five-axis measuring device in this embodiment has been verified through multiple tests, and its single-axis repeatability can be stably controlled within the range of ≤±2.5μm, fully meeting the precision measurement needs of the laboratory. It can accurately measure various products with dimensions between 1.5mm and 400mm, including small buttons, watches, phones, tablets, Macs, and irregularly shaped products with rounded corners or curved surfaces. Furthermore, only one fixture needs to be replaced when changing products, resulting in short replacement time, simple operation, convenient equipment maintenance, and low cost, effectively meeting the actual measurement needs of customers.

[0028] The above description is only a specific embodiment of the present utility model. Various examples and illustrations do not constitute a limitation on the substantive content of the present utility model. Those skilled in the art can make modifications or variations to the above-described specific embodiments after reading the description without departing from the essence and scope of the utility model.

Claims

1. A five-axis linkage measuring device, characterized in that: The system includes a base, on which a five-axis linkage assembly is integrated. This assembly comprises an X-axis linear module, a Y-axis linear module, a Z-axis linear module, an A-axis rotary module, a C-axis rotary module, and a product fixture platform. The X-axis linear module is mounted on the base, the Y-axis linear module is mounted on the slider of the X-axis linear module, the Z-axis linear module is mounted on the slider of the Y-axis linear module, and the A-axis and C-axis rotary modules are located at the output ends of the Z-axis linear module. The A-axis rotary module drives the C-axis rotary module to rotate. The product fixture platform is set on the C-axis rotating module; during measurement, the product is fixed on the product fixture platform, and the five-axis linkage component performs gloss and color measurement of the product's large surface and any points around it, as well as the measurement of the product's R-angle or the oblique angle of the curved surface, through five-axis interpolation.

2. The five-axis linkage measuring device as described in claim 1, characterized in that: The X-axis linear module and Y-axis linear module are linear motors.

3. The five-axis linkage measuring device as described in claim 1, characterized in that: The Z-axis linear module is a non-standard linear motor; the Z-axis linear module has an accuracy of ≤2.5um, a stroke of 150mm, and a power failure and drop protection device.

4. The five-axis linkage measuring device as described in claim 1, characterized in that: The output end of the Z-axis linear module is connected to a lifting bracket, and the A-axis rotary motor of the A-axis rotary module is located on the side of the lifting bracket; the output end of the A-axis rotary motor is provided with a rotating arm, and the C-axis rotary motor of the C-axis rotary module is located on the rotating arm; the A-axis rotary motor drives the rotating arm to rotate, thereby driving the C-axis rotary module to rotate.

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