Method for adjusting the concentricity between product and fixture

Abstract

The present invention belongs to the field of industrial vision technology and discloses a method for adjusting the concentricity of a product and a jig. The method for adjusting the concentricity of a product and a jig comprises: a feeding handling robot transports the product from a feeding inner support jig to a first inspection table jig, calibrates the X-axis, Y-axis, and U-axis of the first inspection table jig using a micrometer, and places the product in the center of the first inspection table jig; then, a transfer handling robot transports the product from the first inspection table jig to a second inspection table jig, calibrates the X-axis and Y-axis of the second inspection table jig using a micrometer, and places the product in the center of the second inspection table jig. This ensures that during the inspection process, the product is parallel and concentric with the first inspection table jig, and the product is parallel and concentric with the second inspection table jig. The precision of the adjustment can be quantified, which can improve the accuracy and reliability of the inspection.

Description

Technical Field

[0001] The present invention relates to the field of industrial vision technology, and in particular to a method for adjusting the concentricity of a product and a fixture. Background Art

[0002] After the production of the mobile phone middle frame is completed, the appearance of the mobile phone middle frame needs to be inspected to ensure the factory quality. The existing inspection equipment generally includes a material infeed support jig, a material infeed handling robot, a first inspection station, a transfer robot, and a second inspection station. When the inspection equipment is in automatic operation mode, when the product is placed in the material infeed support jig, the handling robot grabs the product and places it on the jig of the first inspection station. The suction cup only holds the product, and the jig itself has no positioning function, resulting in the product being non-parallel and non-concentric on the jig. When the jig moves along the Y-axis to the first inspection station for side inspection, it is found that after one side of the middle frame is clearly focused with the camera, rotating the U-axis 90 degrees, 180 degrees, and 270 degrees will cause the focus of the other three sides to become blurred. When it is then transported to the second inspection station by the transfer robot, the same problem occurs, resulting in blurred imaging. The only way to ensure the parallelism and concentricity of the product and the jig is to set positioning pins on the jig and manually place the product directly on the jig using the positioning pins. This method has poor positioning accuracy.

[0003] Therefore, there is an urgent need for a method for adjusting the concentricity of a product and a fixture to solve the problems in the prior art. Summary of the Invention

[0004] The purpose of the present invention is to provide a method for adjusting the concentricity of a product and a fixture. The concentricity of the product and the fixture of the first detection table and the concentricity of the product and the fixture of the second detection table are adjusted by using a micrometer. The adjustment accuracy can be quantified, which can improve the accuracy and reliability of product detection by the first detection table and the second detection table.

[0005] To achieve this object, the present invention adopts the following technical solutions:

[0006] Methods for adjusting the concentricity between the product and the fixture include:

[0007] S100, placing the product on the infeed internal support jig, and positioning the product on the infeed internal support jig;

[0008] S200: Using a feed handling robot, the product is moved from the feed inner support fixture to a first inspection table fixture. The X-axis, Y-axis, and U-axis of the first inspection table fixture are calibrated using a dial indicator to place the product in the center of the first inspection table fixture.

[0009] S300: Move the product from the first inspection table fixture to the second inspection table fixture by a transfer handling robot, calibrate the X-axis and Y-axis of the second inspection table fixture by the micrometer, and place the product in the center on the second inspection table fixture.

[0010] Optionally, step S200 includes:

[0011] S210: Adjust the U-axis values ​​of the detection position and the discharge position of the first detection station fixture so that the long side of the first detection station fixture is parallel to the Y axis. That is, use the micrometer to check the long side of the first detection station fixture so that the long side of the first detection station fixture has a runout of ≤0.01 mm. Record this U-axis value as the first U-axis value. The U-axis values ​​of the detection position and the discharge position of the first detection station fixture are both set to the first U-axis value.

[0012] S220. Adjust the U-axis values ​​of the feeding position, detection position, and discharge position of the second detection table fixture so that the long side of the second detection table fixture is parallel to the Y axis. That is, use the micrometer to mark the long side of the second detection table fixture so that the long side of the second detection table fixture has a dial jump of ≤0.01mm. Record this U-axis value as the second U-axis value. The U-axis values ​​of the detection position and discharge position of the second detection table fixture are both set to the second U-axis value.

[0013] Optionally, after adjusting the U-axis values ​​of the detection position and the discharge position of the first detection station fixture, the following steps are included:

[0014] S230, coarsely adjust the U-axis value of the feeding position of the first detection table fixture, coarsely adjust the first detection table fixture so that the first detection table fixture is parallel to the product, and the product is transported from the feeding inner support fixture to the feeding position of the first detection table by the feeding robot, so that the Z-axis of the feeding handling robot is lowered to the same height as the side of the first detection table fixture, remove the X-axis, Y-axis and U-axis of the first detection table fixture, and manually push the first detection table fixture so that its long side is in close contact with the product on the feeding handling robot. At this time, the product is parallel to the first detection table fixture, and this U-axis value is recorded as the U-axis value of the feeding position.

[0015] Optionally, after step S230 is completed, the following steps are included:

[0016] S240, coarsely adjust the X-axis and Y-axis values ​​of the feed position of the first test bench fixture, enable the U-axis of the first test bench fixture, and adjust it to the position adjusted in step S230, that is, the first test bench fixture (31) is parallel to the product, remove the X-axis and Y-axis of the first test bench fixture, reposition the product from the feed position inner support fixture, and then move it to the feed position of the first test bench fixture by the feed handling robot, so that the rear Z axis of the feed position handling robot descends, so that the product moves to a preset distance above the first test bench fixture;

[0017] S241. Push the first inspection table fixture under the product, visually and manually adjust the X-axis and Y-axis of the first inspection table fixture so that the product can be buckled onto the first inspection table fixture, and then lower the infeed handling robot so that the product can be buckled onto the first inspection table fixture without the first inspection table fixture contacting the product.

[0018] S242. Manually push the X-axis of the first test bench fixture and shake it left and right to find the position where the left and right sides of the first test bench fixture are respectively in contact with the left and right sides of the product cavity. Record the X-axis value when the first test bench fixture is in contact with the left and right sides of the product cavity, and record the value between these two values.

[0019] S243. Manually push the Y-axis of the first inspection table fixture and shake it left and right to find the position where the front and rear sides of the first inspection table fixture are respectively close to the front and rear sides of the product cavity, record the value of the Y-axis when the first inspection table fixture is close to the front and rear sides of the product cavity, and record the middle value of these two values.

[0020] Optionally, after step S240 is completed, the following steps are included:

[0021] S250: Finely adjust the U-axis value of the feed position of the first inspection table fixture, reposition the product from the feed position inner support fixture, and move the product to the first inspection table fixture by the feed handling robot, and adsorb the product;

[0022] S251. Rotate the U-axis of the first inspection table fixture to the inspection position, record the value of the U-axis of the first inspection table fixture at the inspection position as a, in degrees, and use the micrometer to check that the product is not parallel to the Y-axis. Adjust the U-axis of the first inspection table fixture so that the product is parallel to the Y-axis and the runout of the long side of the product is within 0.02 mm. Record the value of the U-axis of the first inspection table fixture at this time as b.

[0023] S252: When the U-axis of the first inspection table fixture rotates to the inspection position, the first inspection table fixture is parallel to the Y-axis. After adjusting the U-axis of the first inspection table fixture, that is, rotating the U-axis of the first inspection table fixture by (ba) degrees, the long side of the product is parallel to the Y-axis. At this time, the angle between the long side of the first inspection table fixture and the Y-axis becomes (ba) degrees, resulting in the angle between the long side of the first inspection table fixture and the product being (ba) degrees before the next material feeding and handling robot discharges the material.

[0024] S253. In order to ensure that the first inspection table fixture is parallel to the product when the handling robot unloads the material, the angle must be compensated to the U-axis value of the feeding position of the first inspection table fixture. The U-axis value of the feeding position is c, in degrees; if the value of b is greater than the value of a after clockwise rotation and leveling, the U-axis of the feeding position of the first inspection table fixture must be rotated counterclockwise by (ba) degrees. The final correction of the U-axis value of the feeding position of the first inspection table fixture is: c-(ba)=c+ab, in degrees; if the value of b is less than the value of a after counterclockwise rotation and leveling, the compensation is clockwise, the angle is (ab) degrees, and the final correction of the U-axis value of the feeding position of the first inspection table fixture is: c+(ab)=c+ab, in degrees. Therefore, no matter how it deviates, the value of the U-axis feeding position of the first inspection table fixture after correction is c+ab, in degrees.

[0025] S254. Run the material again. When the U-axis of the first inspection table fixture is in the inspection position, use the micrometer to verify whether the product is parallel to the Y-axis. The runout requirement is within 0.05mm.

[0026] Optionally, after step S250 is completed, the following steps are included:

[0027] S260, fine-tuning the X-axis and Y-axis of the first testing station fixture feeding position;

[0028] S261. After fine-tuning the U-axis value of the infeed position of the first inspection station fixture, automatically move the product from the infeed position internal support fixture to the first inspection station fixture by the infeed handling robot, confirm that the U-axis of the first inspection station fixture is in the inspection position, press the output end of the dial indicator against the center of the long side of the product, reset the value of the dial indicator, rotate the U-axis of the first inspection station fixture 180°, measure the difference between the two sides of the product with the dial indicator, and compensate half of the difference to the X-axis value of the infeed position of the first inspection station fixture;

[0029] S262: Rotate the U-axis of the first inspection table fixture by 90°, and measure the difference between the two short sides of the product using the same method as S341, and compensate half of the difference between the two short sides to the value of the Y-axis of the feeding position of the first inspection table fixture;

[0030] S263. Run the material again, stop the equipment when the product is moved to the first inspection table fixture, confirm that the U-axis of the first inspection table fixture is in the inspection position, and use the micrometer to check the product again to confirm that the concentricity of the product and the first inspection table fixture is within 0.1 mm.

[0031] Optionally, after step S260 is completed, the following steps are included:

[0032] S270, coarsely adjusting the X-axis and Y-axis of the discharge position of the first testing station fixture;

[0033] S271. Make the suction cups of the transfer handling robot evenly distributed on the product, ensure that the compression of the suction cups of the transfer handling robot is less than 2mm, and the lifting height is less than 20mm, and the height at which the transfer handling robot places the product on the second inspection table fixture is consistent with the height when the material is taken.

[0034] Optionally, after step S220 is completed, step S300 includes:

[0035] S310, coarsely adjusting the X-axis and Y-axis of the feed position of the second testing station fixture;

[0036] S311, align the output end of the dial indicator with the long side of the first detection table fixture, reset the reading, then pull the first detection table fixture apart, pull the second detection table fixture to the dial indicator, adjust the X-axis of the second detection table fixture to reset the dial indicator reading, and record the X-axis value of the second detection table fixture at this time as the X-axis value of the second detection table fixture feeding position;

[0037] S312. Push the first detection table fixture to the lowest end of the X-axis, push the dial indicator to the leftmost end of the first detection table fixture, and clear the reading; push the first detection table fixture to the uppermost end of the X-axis, avoiding the position of the dial indicator, and move the second detection table fixture to the left so that the left end of the second detection table fixture is in contact with the output end of the dial indicator until the dial indicator reading is zero, and record the Y-axis value of the second detection table fixture at this time as the Y-axis value of the second detection table fixture feeding position.

[0038] Optionally, after step S310 is completed, the following steps are included:

[0039] S320, fine-tuning the X-axis and Y-axis of the feed position of the second testing table fixture;

[0040] S321: Have the testing equipment move the product to the second testing table fixture, confirm that the U-axis of the second testing table fixture is in the testing position, place the output end of the dial gauge against the center of the long side of the product, and if the compression of the output end of the dial gauge is less than 0.2 mm, reset the reading, rotate the U-axis of the second testing table fixture 180°, measure the difference between the two long sides of the product, and compensate half of the difference between the two long sides to the X-axis value of the feeding position of the second testing table fixture;

[0041] S322. Rotate the second inspection table fixture by 90°, measure the difference between the two short sides of the second inspection table fixture by the same method as S371, and compensate the difference between the two short sides to the Y-axis value of the feeding position of the second inspection table fixture.

[0042] Optionally, after step S320 is completed, the following steps are included:

[0043] S330, coarsely adjusting the X-axis and Y-axis of the material discharge position of the second testing station fixture;

[0044] S331. Set the X-axis of the discharging position of the second inspection station fixture to the standby position, and move the Y-axis of the discharging position of the second inspection station fixture to the point where the suction cups of the discharging handling robot can be evenly distributed on the product.

[0045] Beneficial effects:

[0046] The method for adjusting the concentricity of a product and a jig provided by the present invention comprises placing the product on an infeed inner support jig, positioning the product on the infeed inner support jig, and then transporting the product from the infeed inner support jig to a first inspection table jig by an infeed handling robot, calibrating the X-axis, Y-axis, and U-axis of the first inspection table jig by a micrometer, placing the product in the center on the first inspection table jig, and then transporting the product from the first inspection table jig to a second inspection table jig by a transfer handling robot, and calibrating the X-axis, Y-axis, and U-axis of the second inspection table jig by a micrometer. The X-axis and Y-axis of the inspection table fixture are calibrated so that the product is placed in the center of the second inspection table fixture. By using the dial indicator, it can be ensured that during the inspection process, the product is parallel and concentric with the first inspection table fixture, and the product is parallel and concentric with the second inspection table fixture. The concentricity of the product with the first inspection table fixture and the concentricity of the product with the second inspection table fixture can be adjusted by using the dial indicator. The accuracy of the adjustment can be quantified, which can improve the accuracy and reliability of product inspection on the first and second inspection tables. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 The process of the method for adjusting the concentricity of the product and the fixture provided by the present invention is Figure 1 ;

[0048] Figure 2The process of the method for adjusting the concentricity of the product and the fixture provided by the present invention is Figure 2 ;

[0049] Figure 3 It is a structural schematic diagram of the detection equipment corresponding to the method for adjusting the concentricity of a product and a fixture provided by the present invention.

[0050] In the picture:

[0051] 10. Feeding internal support fixture; 20. Feeding handling robot; 30. First inspection station; 31. First inspection station fixture; 40. Transfer handling robot; 50. Second inspection station; 51. Second inspection fixture. DETAILED DESCRIPTION

[0052] The present invention will be further described in detail below with reference to the accompanying drawings and examples. It will be understood that the specific embodiments described herein are intended only to illustrate the present invention and are not intended to limit the present invention. It should also be noted that, for ease of description, the accompanying drawings only illustrate portions relevant to the present invention, not all structures.

[0053] In the description of the present invention, unless otherwise expressly specified or limited, the terms "connected," "connected," and "fixed" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integration; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention in specific circumstances.

[0054] In the present invention, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features being in contact not directly but through another feature between them. Furthermore, a first feature being "above," "above," and "above" a second feature may include the first feature being directly above or obliquely above the second feature, or may simply mean that the first feature is higher in level than the second feature. A first feature being "below," "below," and "below" a second feature may include the first feature being directly below or obliquely below the second feature, or may simply mean that the first feature is lower in level than the second feature.

[0055] In the description of this embodiment, terms such as "upper," "lower," "left," and "right" are used to refer to positions or locations based on those shown in the accompanying drawings. These terms are intended solely to facilitate description and simplify operation, and are not intended to indicate or imply that the devices or components referred to must have, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on the present invention. Furthermore, the terms "first" and "second" are used solely for descriptive purposes and have no special meaning.

[0056] The method for adjusting the concentricity of the product and the fixture provided in this embodiment is used on a testing device for testing the mobile phone middle frame after the mobile phone middle frame is produced. The testing device includes a feeding inner support fixture 10, a feeding handling robot 20, a first testing platform 30, a transfer handling robot 40 and a second testing platform 50. The feeding handling robot 20 can move along the X axis and the Z axis, and the transfer handling robot 40 only moves along the Z axis. A first testing platform fixture 31 is provided on the first testing platform 30. The first testing platform 30 is used to detect the side of the mobile phone middle frame. A second testing platform fixture 51 is provided on the second testing platform 50. The second testing platform 50 is used to perform a full range of testing on the mobile phone middle frame, and the first testing platform fixture 31 can move along the X axis and the Z axis. The second inspection table fixture 51 can also move along the X-axis and Y-axis and rotate along the U-axis. In the automatic operation mode of the inspection equipment, when the product is placed into the in-feed support fixture 10, the feeding and handling robot 20 grabs the product and places it on the first inspection table fixture 31 to inspect the side of the mobile phone middle frame. However, at this time, the suction cup of the feeding and handling robot 20 only holds the product, and the fixture on the first inspection table 30 itself has no positioning function, resulting in the middle frame of the mobile phone being non-parallel and non-concentric on the fixture of the first inspection table 30, affecting the inspection result of the first inspection table 30. When it is transported to the second inspection table fixture 51 by the transfer handling robot 40, the same problem will still exist, which will cause blurred imaging.

[0057] In order to solve the above problems, this embodiment provides a method for adjusting the concentricity of the product and the fixture. The product in this embodiment is the middle frame of a mobile phone. In other embodiments, the product can be the middle frame of other electronic products, such as the middle frame of a phone watch, the middle frame of an iPad, etc., without limitation.

[0058] The method for adjusting the concentricity of the product and the fixture provided in this embodiment includes:

[0059] S100, placing the product on the infeed internal support jig 10, and positioning the product on the infeed internal support jig 10;

[0060] S200: The product is moved from the infeed inner support fixture 10 to the first inspection table fixture 31 by the infeed handling robot 20. The X-axis, Y-axis, and U-axis of the first inspection table fixture 31 are calibrated by a dial indicator so that the product is centered on the first inspection table fixture 31.

[0061] S300, transfer the product from the first inspection table fixture 31 to the second inspection table fixture 51 through the transfer handling robot 40, calibrate the X-axis and Y-axis of the second inspection table fixture 51 through the micrometer, and place the product in the center of the second inspection table fixture 51.

[0062] By using the micrometer, it can be ensured that during the inspection process, the product is parallel and concentric with the first inspection table fixture 31, and the product is parallel and concentric with the second inspection table fixture 51. The concentricity of the product with the first inspection table fixture 31 and the concentricity of the product with the second inspection table fixture 51 can be adjusted by using the micrometer. The adjustment accuracy can be quantified, which can improve the clarity of the imaging of the first inspection table 30 and the second inspection table 50, thereby ensuring the accuracy and reliability of the product inspection by the first inspection table 30 and the second inspection table 50.

[0063] Preferably, step S200 includes:

[0064] S210, adjust the U-axis values ​​of the detection position and the discharge position of the first detection station fixture 31 so that the long side of the first detection station fixture 31 is parallel to the Y axis, that is, use a dial indicator to check the long side of the first detection station fixture 31 so that the long side of the first detection station fixture 31 has a dial runout of ≤0.01 mm, record this U-axis value as the first U-axis value, and set the U-axis values ​​of the detection position and the discharge position of the first detection station fixture 31 to the first U-axis value;

[0065] S220. Adjust the U-axis values ​​of the feeding position, detection position and discharge position of the second detection table fixture 51 so that the long side of the second detection table fixture 51 is parallel to the Y axis. That is, use the micrometer to mark the long side of the second detection table fixture 51 so that the long side of the second detection table fixture 51 is ≤0.01mm. Record this U-axis value as the second U-axis value. The U-axis values ​​of the detection position and discharge position of the second detection table fixture 51 are both set to the second U-axis value.

[0066] Preferably, the product transported by the feeding handling robot 20 from the feeding inner support fixture 10 to the first inspection table fixture 31 must have a certain deflection. The U-axis value of the feeding position of the first inspection table 30 is adjusted to make the product parallel to the fixture. After step S210 is completed, it includes:

[0067] S230, coarsely adjust the U-axis value of the feeding position of the first inspection table fixture 31, and coarsely adjust the first inspection table fixture 31 so that the first inspection table fixture 31 is parallel to the product. The product is transported from the feeding inner support fixture 10 to the feeding position of the first inspection table 30 by the feeding robot, so that the Z axis of the feeding handling robot 20 is lowered to a height almost the same as the side height of the first inspection table fixture 31, and the X axis, Y axis and U axis of the first inspection table fixture 31 are enabled. Manually push the first inspection table fixture 31 so that its long side is in contact with the product on the feeding handling robot 20. At this time, the product and the fixture are parallel. Record this U-axis value as the feeding position U-axis value, and complete the coarse adjustment of the U-axis value of the feeding position of the first inspection table fixture 31.

[0068] Preferably, after step S230 is completed, the following steps are included:

[0069] S240, coarsely adjust the X-axis and Y-axis values ​​of the feed position of the first inspection station fixture 31, enable the U-axis of the first inspection station fixture 31, and adjust it to the position adjusted in S230, remove the X-axis and Y-axis of the first inspection station fixture 31, and in order to prevent the previous step from distorting the product, re-position the product on the support fixture in the feed position, and then use the feed handling robot 20 to transport it to the feed position of the first inspection station fixture 31, so that the rear Z axis of the feed position handling robot is lowered, and the product is moved to a preset distance above the first inspection station fixture 31;

[0070] S241. Push the first inspection table fixture 31 under the product. Visually and manually adjust the X-axis and Y-axis of the first inspection table fixture 31 so that the product can be buckled onto the first inspection table fixture 31. Then lower the infeed handling robot 20 so that the product can be buckled onto the first inspection table fixture 31 without the first inspection table fixture 31 contacting the product. At this time, the product should not be pressed onto the first inspection table fixture 31. Keep a small gap between the first inspection table fixture 31 and the product.

[0071] S242. Manually push the X-axis of the first inspection table fixture 31, and shake it left and right to find the position where the left and right sides of the first inspection table fixture 31 are respectively close to the left and right sides of the product cavity, and record the value of the X-axis when the first inspection table fixture 31 is close to the left and right sides of the product cavity. The middle value of these two values ​​is recorded as the X-axis value of the feeding position of the first inspection table fixture 31. For example, if the values ​​on both sides of the first inspection table fixture 31 are 70.1 and 70.9 respectively, then record it as 70.5.

[0072] S243. Manually push the Y-axis of the first inspection station fixture 31 and shake it left and right to find the position where the front and rear sides of the first inspection station fixture 31 are in contact with the front and rear sides of the product cavity. Record the Y-axis value when the first inspection station fixture 31 is in contact with the front and rear sides of the product cavity. Record the middle value of these two values ​​as the Y-axis value of the infeed position of the first inspection station 30. The above steps complete the coarse adjustment of the X-axis and Y-axis values ​​of the infeed position of the first inspection station fixture 31.

[0073] At this point, the X-axis, Y-axis and U-axis coarse adjustment of the feeding position of the first inspection table fixture 31 is completed. At this time, the product can be placed into the first inspection table fixture 31 and roughly centered.

[0074] Preferably, after step S240 is completed, the following steps are included:

[0075] S250: Fine-tune the U-axis value of the feed position of the first inspection station fixture 31, reposition the product from the feed position inner support fixture, and move it to the first inspection station fixture 31 by the feed handling robot 20, and adsorb the product;

[0076] The first inspection table fixture 31 is pulled near the transfer handling robot 40 to facilitate dial indicator operation and avoid interference between the inspection equipment and the dial indicator.

[0077] S251. Rotate the U-axis of the first inspection table fixture 31 to the inspection position. Record the value of the U-axis of the first inspection table fixture 31 at the inspection position as a (in degrees). Use a micrometer to check that the product is not parallel to the Y-axis. Adjust the U-axis of the first inspection table fixture 31 so that the product is parallel to the Y-axis and the runout of the long side of the product is within 0.02 mm. Record the value of the U-axis of the first inspection table fixture 31 at this time as b (in degrees).

[0078] S252, when the U-axis of the first inspection table fixture 31 rotates to the inspection position, the first inspection table fixture 31 is parallel to the Y-axis. After adjusting the U-axis of the first inspection table fixture 31, that is, rotating the U-axis of the first inspection table fixture 31 by (ba) degrees, the long side of the product is parallel to the Y-axis. At this time, the angle between the long side of the first inspection table fixture 31 and the Y-axis becomes (ba) degrees, resulting in the angle between the long side of the first inspection table fixture 31 and the product being (ba) degrees before the next material feeding and handling robot 20 discharges the material;

[0079] S253. In order to ensure that the first inspection table fixture 31 is parallel to the product when the handling robot puts the material, the angle must be compensated to the U-axis value of the feeding position of the first inspection table fixture 31. The U-axis value of the feeding position is c, and the unit is degree; if the value of b is greater than the value of a after clockwise rotation and leveling, the U-axis of the feeding position of the first inspection table fixture 31 must be rotated counterclockwise by (ba) degrees. The final corrected U-axis value of the feeding position of the first inspection table fixture 31 is: c-(ba)=c+ab, and the unit is degree; if the value of b is less than the value of a after counterclockwise rotation and leveling, the compensation is clockwise, and the angle is (ab) degrees. The final corrected U-axis value of the feeding position of the first inspection table fixture 31 is: c+(ab)=c+ab, and the unit is degree. Therefore, no matter how it deviates, the corrected U-axis value of the feeding position of the first inspection table fixture 31 is c+ab, and the unit is degree;

[0080] S254. Run the material again. When the 31U axis of the first inspection table fixture is in the inspection position, use the micrometer to verify whether the product is parallel to the Y axis. The runout requirement is within 0.05mm.

[0081] The fine adjustment of the U-axis value of the feeding position of the first detection table fixture 31 is completed through step S250. The process of meter adjustment can quantify the adjustment accuracy and improve the clarity of the imaging of the first side detection table.

[0082] Preferably, after step S250 is completed, the following steps are included:

[0083] S260, fine-tuning the X-axis and Y-axis of the feeding position of the first testing station fixture 31;

[0084] S261. After fine-tuning the U-axis value of the feeding position of the first inspection table fixture 31, the feeding handling robot 20 automatically moves the product from the internal support fixture of the feeding position to the first inspection table fixture 31. Confirm that the U-axis of the first inspection table fixture 31 is in the inspection position at this time, and press the output end of the micrometer against the center of the long side of the product to ensure that the compression amount of the output end of the micrometer is less than 0.2mm to prevent the product from being pushed. Clear the value of the micrometer and rotate the U-axis of the first inspection table fixture 31 180°. Use the micrometer to measure the difference between the two sides of the product, and compensate half of the difference to the value of the X-axis of the feeding position of the first inspection table fixture 31. Determine which side the first inspection table fixture 31 is biased to, and do not adjust it in the wrong direction.

[0085] S262. Rotate the U-axis of the first inspection table fixture 31 by 90°. Measure the difference between the two short sides of the product using the same method as S341. Compensate half of the difference between the two short sides to the Y-axis value of the feeding position of the first inspection table fixture 31. Determine which side the first inspection table fixture 31 is tilted to and do not adjust it in the wrong direction.

[0086] S263. Run the material again. When the product is moved to the first inspection table fixture 31, stop the equipment and confirm that the U axis of the first inspection table fixture 31 is in the inspection position. Use the micrometer to check the product again to confirm that the concentricity between the product and the first inspection table fixture 31 is within 0.1mm.

[0087] Through step S260, the X-axis and Y-axis fine adjustment of the feeding position of the first inspection table fixture 31 is completed. At this point, the X-axis, Y-axis and U-axis of the feeding position of the first inspection table fixture 31 have all been fine-tuned.

[0088] Preferably, after step S260 is completed, the following steps are included:

[0089] S270, coarsely adjust the X-axis and Y-axis of the discharge position of the first testing station fixture 31;

[0090] S271. Make the suction cups of the transfer and transport robot 40 evenly distributed on the product, ensure that the compression of the suction cups of the transfer and transport robot 40 is less than 2mm, and the lifting height is less than 20mm. The height at which the transfer and transport robot 40 places the product on the second inspection table fixture 51 is consistent with the height when the material is taken, and pay attention to the vacuum breaking airflow not being too large to prevent the product from being blown crooked. The vacuum breaking airflow of the suction cups of the transfer and transport robot 40 and the first inspection table fixture 31 should not be too large. If a loud sound can be heard when breaking the vacuum, it means that the airflow is relatively large.

[0091] Preferably, after adjusting the feeding position, the testing position and the discharging position of the first testing station fixture 31, the second testing station fixture 51 is adjusted. Step S300 includes:

[0092] It should be noted that the first inspection station fixture 31 and the product are parallel and concentric. During the process of lifting and lowering the product by the transfer handling robot 40, only the Z-axis changes, while the X-axis, Y-axis, and U-axis remain unchanged. Therefore, as long as the second inspection station fixture 51 arrives to receive the product and accurately moves to the original position of the first inspection station fixture 31, the product will also be parallel and concentric when placed on the second inspection station fixture 51.

[0093] Since the discharge position of the first inspection station fixture 31 and the feed position of the second inspection station fixture 51 are the same, there is no need to adjust the U axis, only the X and Y axes need to be adjusted.

[0094] S310, coarsely adjust the X-axis and Y-axis of the feeding position of the second testing table fixture 51;

[0095] S311, align the output end of the dial indicator with the long side of the first detection table fixture 31, reset the reading, then pull the first detection table fixture 31 apart, pull the second detection table fixture 51 to the dial indicator, adjust the X axis of the second detection table fixture 51, reset the dial indicator reading, and record the X axis value of the second detection table fixture 51 at this time as the X axis value of the second detection table fixture 51 feeding position;

[0096] S312. Push the first inspection table fixture 31 to the lowest end of the X-axis, push the dial indicator to the leftmost end of the first inspection table fixture 31, and clear the reading; push the first inspection table fixture 31 to the uppermost end of the X-axis to avoid the position of the dial indicator, and move the second inspection table fixture 51 to the left so that the left end of the second inspection table fixture 51 is in contact with the output end of the dial indicator until the dial indicator reading is zero. Record the Y-axis value of the second inspection table fixture 51 at this time as the Y-axis value of the feeding position of the second inspection table fixture 51.

[0097] At this time, the material discharging position of the first inspection table fixture 31 and the material feeding position of the second inspection table fixture 51 are aligned in X and Y, and the second inspection table fixture 51 can basically ensure concentricity after receiving the material.

[0098] However, since there are differences between the first inspection table fixture 31 and the second inspection table fixture 51, and there are certain differences in the installation of the X-axis, Y-axis, U-axis of the first inspection table fixture 31 and the X-axis, Y-axis, U-axis of the second inspection table fixture 51, if the concentricity is still insufficient after completing the above operations, fine-tuning is required.

[0099] Furthermore, after step S310 is completed, the following steps are included:

[0100] S320, fine-tuning the X-axis and Y-axis of the feeding position of the second testing table fixture 51;

[0101] S321: Have the testing equipment move the product to the second testing table fixture 51. Confirm that the U-axis of the second testing table fixture 51 is in the testing position. Place the output end of the dial gauge against the center of the long side of the product. If the compression of the output end of the dial gauge is less than 0.2 mm, reset the reading. Rotate the U-axis of the second testing table fixture 51 180° and measure the difference between the two long sides of the product. Compensate half of the difference between the two long sides to the X-axis value of the feeding position of the second testing table fixture 51.

[0102] S322, rotate the second inspection table fixture 51 90 degrees, measure the difference between the two short sides of the second inspection table fixture 51 by the same method as S371, and compensate the difference between the two short sides to the Y-axis value of the feeding position of the second inspection table fixture 51.

[0103] Then the material is run again, and the product is transported by the transfer handling robot 40 to the second inspection table fixture 51 and paused to confirm that the U axis of the second inspection table fixture 51 is in the inspection position. The product is metered here to confirm that the concentricity of the product and the second inspection table fixture 51 is within 0.1mm.

[0104] Preferably, after step S320 is completed, the following steps are included:

[0105] S330, coarsely adjust the X-axis and Y-axis of the discharge position of the second testing station fixture 51;

[0106] S331. Set the X-axis of the discharge position of the second inspection table fixture 51 in the standby position, and move the Y-axis of the discharge position of the second inspection table fixture 51 until the suction cup of the discharge handling robot can be evenly distributed on the product. It can be understood that it is sufficient to ensure that the discharge handling robot is centered and adsorbed to the product.

[0107] Obviously, the above embodiments of the present invention are merely examples for the purpose of clearly illustrating the present invention and are not intended to limit the embodiments of the present invention. A person skilled in the art would be able to make various obvious changes, readjustments, and substitutions without departing from the scope of protection of the present invention. It is not necessary and impossible to enumerate all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the claims of the present invention.

Claims

1. A method for adjusting the concentricity between a product and a fixture, characterized in that: include: S100, placing the product on the in-feed internal support jig (10), and the in-feed internal support jig (10) positions the product; S200, transporting the product from the feeding inner support fixture (10) to the first inspection table fixture (31) by means of a feeding handling manipulator (20), calibrating the X-axis, Y-axis and U-axis of the first inspection table fixture (31) by means of a micrometer, so that the product is centered on the first inspection table fixture (31); S300, transporting the product from the first inspection table fixture (31) to the second inspection table fixture (51) by a transfer transport manipulator (40), calibrating the X-axis and Y-axis of the second inspection table fixture (51) by the micrometer, so that the product is centered on the second inspection table fixture (51); Step S200 includes: S210, adjusting the U-axis values ​​of the detection position and the discharge position of the first detection table fixture (31) so that the long side of the first detection table fixture (31) is parallel to the Y axis, that is, using the micrometer to mark the long side of the first detection table fixture (31) so that the long side of the first detection table fixture (31) has a table jump of ≤0.01mm, and recording this U-axis value as the first U-axis value. The U-axis values ​​of the detection position and the discharge position of the first detection table fixture (31) are both set to the first U-axis value; S220, adjusting the U-axis values ​​of the feeding position, the detection position and the discharge position of the second detection table fixture (51) so that the long side of the second detection table fixture (51) is parallel to the Y axis, that is, using the micrometer to mark the long side of the second detection table fixture (51) so that the long side of the second detection table fixture (51) has a table jump of ≤0.01mm, and recording this U-axis value as the second U-axis value. The U-axis values ​​of the detection position and the discharge position of the second detection table fixture (51) are both set to the second U-axis value; After adjusting the U-axis values ​​of the detection position and the discharge position of the first detection table fixture (31), the method includes: S230, coarsely adjust the U-axis value of the feeding position of the first inspection table fixture (31), and coarsely adjust the first inspection table fixture (31) so that the first inspection table fixture (31) is parallel to the product. The product is transported from the feeding inner support fixture (10) to the feeding position of the first inspection table (30) by the feeding robot, and the Z-axis of the feeding handling robot (20) is lowered to the same height as the side of the first inspection table fixture (31). The X-axis, Y-axis and U-axis of the first inspection table fixture (31) are enabled, and the first inspection table fixture (31) is manually pushed so that its long side is in close contact with the product on the feeding handling robot (20). At this time, the product and the first inspection table fixture (31) are parallel, and this U-axis value is recorded as the U-axis value of the feeding position.

2. The method for adjusting the concentricity of a product and a fixture according to claim 1, characterized in that: After step S230 is completed, the following steps are included: S240, coarsely adjust the numerical values ​​of the X-axis and Y-axis of the feeding position of the first detection table fixture (31), enable the U-axis of the first detection table fixture (31), and adjust it to the position adjusted in step S230, that is, the first detection table fixture (31) is parallel to the product, remove the X-axis and Y-axis of the first detection table fixture (31), re-position the product from the feeding position inner support fixture, and then move it to the feeding position of the first detection table fixture (31) by the feeding handling robot (20), so that the rear Z axis of the feeding position handling robot descends, so that the product moves to a preset distance above the first detection table fixture (31); S241, push the first inspection table fixture (31) to the bottom of the product, visually and manually adjust the X axis and Y axis of the first inspection table fixture (31) so that the product can be buckled into the first inspection table fixture (31), and then lower the feeding and handling robot (20) so that the product can be buckled onto the first inspection table fixture (31), and the first inspection table fixture (31) does not contact the product; S242, manually push the X-axis of the first test bench fixture (31), shake it left and right to find the position where the left and right sides of the first test bench fixture (31) are respectively close to the left and right sides of the product cavity, record the value of the X-axis when the first test bench fixture (31) is close to the left and right sides of the product cavity, and record the middle value of these two values; S243. Manually push the Y axis of the first test bench fixture (31), shake it left and right to find the position where the front and rear sides of the first test bench fixture (31) are respectively close to the front and rear sides of the product cavity, record the value of the Y axis when the first test bench fixture (31) is close to the front and rear sides of the product cavity, and record the middle value of these two values.

3. The method for adjusting the concentricity between a product and a jig according to claim 2, characterized in that: After step S240 is completed, the following steps are included: S250, fine-tuning the U-axis value of the feed position of the first inspection table fixture (31), repositioning the product from the feed position inner support fixture, and transporting it to the first inspection table fixture (31) by the feed handling manipulator (20), and adsorbing the product; S251, rotating the U axis of the first inspection table fixture (31) to the inspection position, recording the value of the U axis of the first inspection table fixture (31) at the inspection position as a, in degrees, using the micrometer to find that the product is not parallel to the Y axis, adjusting the U axis of the first inspection table fixture (31) to make the product parallel to the Y axis and make the runout of the long side of the product within 0.02 mm, recording the value of the U axis of the first inspection table fixture (31) at this time as b, in degrees; S252, when the U axis of the first detection table fixture (31) is rotated to the detection position, the first detection table fixture (31) is parallel to the Y axis, and after adjusting the U axis of the first detection table fixture (31), that is, rotating the U axis of the first detection table fixture (31) by (ba) degrees, the long side of the product is parallel to the Y axis, and at this time, the angle between the long side of the first detection table fixture (31) and the Y axis becomes (ba) degrees, resulting in the angle between the long side of the first detection table fixture (31) and the product being (ba) degrees before the next material feeding and handling robot (20) discharges the material; S253. In order to ensure that the first inspection table fixture (31) is parallel to the product when the handling robot unloads the material, the angle is compensated to the U-axis value of the feeding position of the first inspection table fixture (31), and the U-axis value of the feeding position is c, in degrees; if the value of b is greater than the value of a after clockwise rotation and leveling, the U-axis of the first inspection table fixture (31) at the feeding position is rotated counterclockwise by (ba) degrees, and the U-axis value of the feeding position of the first inspection table fixture (31) after correction is: c-(ba)=c+ab, in degrees; if the value of b is less than the value of a after counterclockwise rotation and leveling, the compensation is clockwise, the angle is (ab) degrees, and the U-axis value of the feeding position of the first inspection table fixture (31) after correction is: c+(ab)=c+ab, in degrees. Therefore, no matter how it deviates, the U-axis value of the feeding position of the first inspection table fixture (31) after correction is c+ab, in degrees; S254, re-run the material once, when the U axis of the first inspection table fixture (31) is in the inspection position, use the micrometer to verify whether the product is parallel to the Y axis, and the runout requirement is within 0.05mm.

4. The method for adjusting the concentricity between a product and a jig according to claim 3, characterized in that: After step S250 is completed, the following steps are included: S260, fine-tuning the X-axis and Y-axis of the feeding position of the first detection table fixture (31); S261, after the U-axis value of the feeding position of the first inspection table fixture (31) is finely adjusted, the product is automatically moved from the feeding position inner support fixture to the first inspection table fixture (31) by the feeding handling manipulator (20), and it is confirmed that the U-axis of the first inspection table fixture (31) is in the detection position at this time, the output end of the micrometer is pressed against the center of the long side of the product, the value of the micrometer is cleared, and the U-axis of the first inspection table fixture (31) is rotated 180°, and the difference between the two sides of the product is measured by the micrometer, and half of the difference is compensated to the value of the X-axis of the feeding position of the first inspection table fixture (31); S262, rotating the U axis of the first detection table fixture (31) by 90°, measuring the difference between the two short sides of the product by the same method as S341, and compensating half of the difference between the two short sides to the value of the Y axis of the feeding position of the first detection table fixture (31); S263, re-run the material once, and when the product is transported to the first inspection table fixture (31), stop the equipment, confirm that the U axis of the first inspection table fixture (31) is at the inspection position, and then use the micrometer to check the product again to confirm that the concentricity of the product and the first inspection table fixture (31) is within 0.1 mm.

5. The method for adjusting the concentricity between a product and a jig according to claim 4, characterized in that: After step S260 is completed, the following steps are included: S270, coarsely adjusting the X-axis and Y-axis of the discharge position of the first detection table fixture (31); S271. Make the suction cups of the transfer handling robot (40) evenly distributed on the product, ensure that the compression amount of the suction cups of the transfer handling robot (40) is less than 2mm, the lifting height is less than 20mm, and the height at which the transfer handling robot (40) places the product on the second inspection table fixture (51) is consistent with the height when the material is taken.

6. The method for adjusting the concentricity between a product and a jig according to claim 1, characterized in that: After step S220 is completed, step S300 includes: S310, coarsely adjusting the X-axis and Y-axis of the feeding position of the second detection table fixture (51); S311, aligning the output end of the micrometer with the long side of the first detection table fixture (31), clearing the reading, then pulling the first detection table fixture (31), pulling the second detection table fixture (51) to the micrometer, adjusting the X axis of the second detection table fixture (51), clearing the reading of the micrometer, and recording the X axis value of the second detection table fixture (51) at this time as the X axis value of the feeding position of the second detection table fixture (51); S312, push the first detection table fixture (31) to the lowest end of the X-axis, push the micrometer to the leftmost side of the first detection table fixture (31), and clear the reading; push the first detection table fixture (31) to the uppermost end of the X-axis, avoid the position of the micrometer, move the second detection table fixture (51) to the left, make the left end of the second detection table fixture (51) contact the output end of the micrometer until the micrometer reading is zero, and record the Y-axis value of the second detection table fixture (51) at this time as the Y-axis value of the feeding position of the second detection table fixture (51).

7. The method for adjusting the concentricity between a product and a jig according to claim 6, characterized in that: After step S310 is completed, the following steps are included: S320, fine-tuning the X-axis and Y-axis of the feeding position of the second testing table fixture (51); S321, the detection equipment is used to move the product to the second detection table fixture (51), and it is confirmed that the U axis of the second detection table fixture (51) is at the detection position at this time, and the output end of the micrometer is abutted against the center of the long side of the product. The compression amount of the output end of the micrometer is less than 0.2mm, and the reading is reset. The U axis of the second detection table fixture (51) is rotated 180 degrees, and the difference between the two long sides of the product is measured by the meter. Half of the difference between the two long sides is compensated to the X axis value of the feeding position of the second detection table fixture (51); S322, rotate the second detection table fixture (51) by 90 degrees, measure the difference between the two short sides of the second detection table fixture (51) by the same method as S371, and compensate the difference between the two short sides to the Y-axis value of the feeding position of the second detection table fixture (51).

8. The method for adjusting the concentricity between a product and a jig according to claim 7, characterized in that: After step S320 is completed, the following steps are included: S330, coarsely adjusting the X-axis and Y-axis of the discharge position of the second detection table fixture (51); S331, setting the X-axis of the discharge position of the second inspection table fixture (51) to the standby position, and moving the Y-axis of the discharge position of the second inspection table fixture (51) to the discharge position so that the suction cups of the discharge handling robot can be evenly distributed on the product.

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