A subframe online detection device and detection method

Abstract

This invention relates to the field of product inspection and discloses an online inspection device and method for subframes. A positioning frame is used to grasp the workpiece to be inspected, and the positioning frame can grasp either the front or back of the positioning frame. A robotic arm transports the workpiece to be inspected via the positioning frame, switching between a loading / unloading platform, a transfer platform, and an inspection platform. The loading / unloading platform is used for loading uninspected workpieces and unloading inspected workpieces. The transfer platform is used for switching between the front and back of the workpiece to be inspected. The inspection platform includes an inspection table one and an inspection table two, which are respectively arranged on both sides of the transfer platform. A coordinate measuring machine is used to detect the parameters of the workpiece to be inspected. A processor interacts with the robotic arm, loading / unloading platform, transfer platform, and inspection platform to control the operation of the inspection device. The processor also includes a storage module, which stores the data parameters detected by the inspection platform. This inspection system can automatically inspect and record and analyze product data.

Description

Technical Field

[0001] This invention relates to the field of parking brakes, and more particularly to an online testing device and method for a subframe. Background Technology

[0002] Chinese patent CN202120912936.7 discloses a coordinate measuring machine (CMM) auxiliary inspection device for subframes of new energy vehicles, which improves upon existing inspection equipment and can assist in inspection. However, the common forms of CMMs used for inspection include moving bridge type, bed type, and column type. Regardless of the form, manual part replacement, positioning, and benchmark finding are required when measuring different models of subframes, which is time-consuming and labor-intensive. Furthermore, in batch measurements, the measurement results of each part cannot be automatically recorded, and measurement analysis is not possible. Summary of the Invention

[0003] This invention addresses the shortcomings of existing technologies by providing an online subframe inspection device.

[0004] To solve the above-mentioned technical problems, the present invention provides the following technical solution:

[0005] An online inspection device for a subframe includes a robotic arm, a loading and unloading platform, a transfer platform, an inspection platform, and a processor;

[0006] The robotic arm includes a robotic arm body and a positioning frame connected to the end of the robotic arm body. The positioning frame is used to grasp the workpiece to be inspected, and the positioning frame can grasp the front or the back of the positioning frame. The robotic arm transports the workpiece to be inspected through the positioning frame and switches between the loading / unloading platform, the transfer platform, and the inspection platform.

[0007] The loading and unloading platform is used for loading uninspected workpieces and unloading inspected workpieces;

[0008] The transfer platform is used to switch between the front and back sides of the workpiece to be inspected;

[0009] The inspection platform includes Inspection Platform 1 and Inspection Platform 2, which are respectively arranged on both sides of the transfer platform; both Inspection Platform 1 and Inspection Platform 2 are equipped with a coordinate measuring machine, which is used to inspect the parameters of the workpiece to be inspected;

[0010] The processor controls the operation of the detection device by connecting and interacting with the robot arm, loading and unloading platform, transfer platform and detection platform. The processor also includes a storage module, which stores the data parameters detected by the detection platform.

[0011] Preferably, the positioning frame includes a frame body and a gripping frame one disposed on one side of the frame body and a gripping frame two disposed on the other side of the frame body. The gripping frame one and the gripping frame two are used to grip the front and back of the workpiece to be inspected, respectively. The frame body is provided with a connecting plate for connecting with the robot arm body. The connecting plate is fixed to the end of the robot arm body by bolts.

[0012] Preferably, the gripping frame is a rectangular frame, which includes positioning point 1, positioning point 2 and positioning point 3 set at the four corners of the rectangular frame. Positioning point 1 and positioning point 3 are set diagonally. Positioning point 1 and positioning point 2 are located at the two ends of the crossbeam on the side near the robot arm. Positioning point 1 and positioning point 3 are both provided with positioning pneumatic pressure arms and positioning bosses for positioning the sleeve of the workpiece to be inspected. Positioning point 2 is provided with a positioning boss, and positioning point 3 is also provided with an adjusting cylinder. The end of the adjusting cylinder is provided with a fixing plate. The pneumatic pressure arm on positioning point 3 is fixedly installed on the fixing plate.

[0013] The second gripper is a rectangular frame, and its frame is the same as that of the first gripper. It includes positioning points four, five, and six at the four corners of the rectangular frame. Positioning points four and six are diagonally positioned, and pneumatic arms for clamping the workpiece to be measured are installed on positioning points four and six. Positioning points four and two are located at the same end of the positioning frame and are on opposite sides of it, respectively. Positioning points five and one are located at the same end of the positioning frame and are on opposite sides of it, respectively. Positioning points six and three are located at the two ends of the crossbeam at the end of the positioning frame away from the robot arm, respectively, and are on the front and back sides of the positioning frame. An adjusting cylinder is installed at positioning point six, and the pneumatic arm at positioning point six is ​​mounted on the mounting base plate connected to the adjusting cylinder.

[0014] Preferably, the loading / unloading platform includes a turntable and a mounting base plate. The mounting base plate is mounted on the turntable and rotates synchronously driven by the turntable. The mounting base plate is equipped with a positioning frame for loading or unloading. The positioning frame and the mounting base plate are detachably connected. The positioning frame includes at least two positioning areas. Positioning area one is used for loading the workpiece to be tested, and positioning area two is used for unloading the workpiece after testing. The loading / unloading turntable is also equipped with a barcode scanning device. A QR code is affixed to the workpiece to be tested. The QR code is used to record the parameters of the current workpiece to be tested and to create a file in the processor.

[0015] Preferably, the testing platform includes a coordinate measuring machine (CMM) and a testing frame mounted on the CMM testing platform, wherein the testing frame and the CMM are detachably connected; the CMM is a bridge-type CMM.

[0016] As a preferred option, it also includes a display rack, which is equipped with positioning frames to match different products.

[0017] Preferably, the positioning frame includes a positioning block for engaging with the workpiece sleeve, and a mounting block at the bottom for fixed connection with the mounting base plate, the mounting block being fixedly connected to the mounting base plate by bolts.

[0018] Preferably, the positioning stand includes a positioning block for cooperating with the workpiece sleeve, a mounting base plate with a limit stop at the position of the mounting block, the limit stop forming an L-shaped limiting edge, and a locking bolt located on the two sides opposite the L-shaped limiting edge. The locking bolt and the limit stop together form a rectangular mounting area for positioning the mounting block, and a pull ring is provided on the mounting block.

[0019] As a preferred option, the system also includes a transfer platform with a support frame, on which support columns and support blocks are provided. The center of the workpiece to be inspected can be positioned and installed on the support columns and support blocks, and the four corners of the workpiece to be inspected are suspended as base points for the positioning frame to grip.

[0020] A method for online inspection of a subframe includes the aforementioned online inspection device for a subframe. The inspection device includes a QR code set on the workpiece to be inspected, and a barcode scanner set on the loading and unloading platform for reading the QR code information. The barcode scanner is connected and interacts with a processor. The inspection method includes the following steps:

[0021] Step 1: According to the model of the workpiece to be tested, assemble the matching positioning frame, loading and unloading platform, transfer platform and testing platform;

[0022] Step 2: The scanning device reads the QR code on the workpiece to be tested and transmits the read information to the processor. The processor then creates a file for the product based on the received information.

[0023] Step 3: The robotic arm grasps the front of the workpiece to be tested and then transports the workpiece to the testing station 1. The testing station 1 transmits the tested data to the processor, and the processor records and archives the information of the front of the workpiece.

[0024] Step 4: The robotic arm transports the workpiece to be tested to the transfer platform. Then, the robotic arm grabs the other side of the workpiece and transports it to the inspection table 2 to inspect the back of the workpiece. The inspection data is then transmitted to the processor, which records and archives the information of the reverse side of the workpiece.

[0025] Step 5: The robotic arm moves the workpiece to be tested to the loading / unloading platform for unloading.

[0026] Because the present invention adopts the above technical solution, it has the following significant technical effects:

[0027] This invention discloses an online subframe inspection device. This inspection mechanism can combine hardware such as a coordinate measuring machine, positioning tools, and robots with analysis software to automatically and quickly perform measurements, provide result analysis, and record traceability. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of the overall structure of the device.

[0029] Figure 2 This is a structural diagram of the positioning frame.

[0030] Figure 3 This is a structural diagram of the positioning frame.

[0031] Figure 4 This is a structural diagram of the loading and unloading platform.

[0032] Figure 5 This is a schematic diagram of the testing station.

[0033] Figure 6 This is a control diagram of the device.

[0034] The technical names of the labels in the attached diagram are as follows: 1—Robot arm, 2—Loading / unloading platform, 3—Transfer platform, 4—Detection platform, 5—Processor, 6—Positioning frame, 7—Detection table one, 8—Detection table two, 11—Coordinate measuring machine, 12—Storage module, 13—Gripping frame one, 14—Gripping frame two, 15—Connecting plate, 16—Positioning point one, 17—Positioning point two, 18—Positioning point three, 19—Positioning boss, 20—Pneumatic pressure arm, 21—Adjusting cylinder, 22—Fixed plate, 23—Positioning point four, 24—Positioning point five, 25—Positioning point six, 26—Turntable, 27—Mounting base plate, 28—QR code, 29—Scanning device, 30—Positioning frame one, 31—Positioning block, 32—Mounting block, 33—Pull ring. Detailed Implementation

[0035] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments.

[0036] Example 1

[0037] An online inspection device for a subframe includes a robotic arm 1, a loading and unloading platform 2, a transfer platform 3, an inspection platform 4, and a processor 5;

[0038] The robot arm 1 includes a robot arm 1 body and a positioning frame 6 connected to the end of the robot arm 1 body. The positioning frame 6 is used to grasp the workpiece to be inspected. The positioning frame 6 can grasp the front or back of the positioning frame 6. The robot arm 1 transports the workpiece to be inspected through the positioning frame 6 and switches between the loading and unloading platform 2, the transfer platform 3, and the inspection platform 4.

[0039] The loading and unloading platform 2 is used for loading uninspected workpieces and unloading inspected workpieces;

[0040] The transfer platform 3 is used to switch between the front and back sides of the workpiece to be inspected;

[0041] The inspection platform 4 includes inspection table 7 and inspection table 8, which are respectively arranged on both sides of the transfer platform 3; both inspection table 7 and inspection table 8 are equipped with a coordinate measuring machine 11, which is used to inspect the parameters of the workpiece to be inspected.

[0042] The processor 5 controls the operation of the detection device by connecting and interacting with the robot arm 1, the loading and unloading platform 2, the transfer platform 3, and the detection platform 4. The processor 5 also includes a storage module 12, which stores the data parameters detected by the detection platform 4.

[0043] The testing mechanism provided in this solution allows all components used for positioning the subframe, such as the positioning frame 6 and the gripper, to be separated from the original platform. This facilitates the testing of different product models, saving a significant number of workpieces. The positioning frame 6 and gripper can be moved directly by hoisting, saving time and labor. This solution utilizes a robotic arm 1 to move the subframe, greatly reducing manpower and enabling inspection of both front and back sides. The entire process is compact and highly efficient.

[0044] Specifically, in this embodiment, the positioning frame 6 includes a frame body and a gripping frame 13 disposed on one side of the frame body, and a gripping frame 2 14 disposed on the other side of the frame body. The gripping frame 13 and the gripping frame 2 are used to grip the front and back of the workpiece to be inspected, respectively. A connecting plate 15 for connecting with the robot arm 1 body is provided on the frame body, and the connecting plate 15 is fixed to the end of the robot arm 1 body by bolts. In this embodiment, there are two gripping frames, namely gripping frame 13 and gripping frame 2 14, wherein gripping frame 13 and gripping frame 2 14 are arranged in parallel and fixed by a profile connection. The fixing plate for connecting with the robot arm 1 body is connected to both gripping frame 13 and gripping frame 2 14.

[0045] In this embodiment, the loading / unloading platform 2, the transfer platform 3, the detection platform 4, and the processor 5 are arranged around the robot arm 1, so the robot arm 1 can sequentially complete the transportation of the subframe and the switching of workstations.

[0046] In this embodiment, the gripping frame 13 is a rectangular frame, which includes positioning points 16, 17, and 18 at the four corners of the rectangular frame. Positioning points 16 and 18 are diagonally arranged. Positioning points 16 and 17 are located at the two ends of the crossbeam near the side of the robot arm 1. Positioning points 16 and 18 are both provided with positioning pneumatic pressure arms 20 and positioning bosses 19 for positioning the sleeve of the workpiece to be inspected. Positioning point 27 is provided with a positioning boss 19, and positioning point 18 is also provided with an adjusting cylinder 21. The end of the adjusting cylinder 21 is provided with a fixing plate 22. The pneumatic pressure arm 20 on positioning point 18 is fixedly installed on the fixing plate 22.

[0047] The gripper frame 2 14 is a rectangular frame, and its frame is the same as that of the gripper frame 1 13. It includes positioning points 4 24, 5 24 and 6 25 set at the four corners of the rectangular frame. Positioning points 4 24 and 6 25 are diagonally arranged. Pneumatic pressure arms 20 for clamping the workpiece to be measured are set on positioning points 4 24 and 6 25. Positioning points 4 24 and 2 17 are located at the same end of the positioning frame 6 and are located on its front and back sides respectively. Positioning points 5 24 and 1 16 are located at the same end of the positioning frame 6 and are located on its front and back sides respectively. Positioning points 6 25 and 3 18 are located at the two ends of the crossbeam of the positioning frame 6 away from the robot arm 1 and are located on the front and back sides of the positioning frame 6 respectively. An adjusting cylinder 21 is set at positioning point 6 25, and the pneumatic pressure arm 20 at positioning point 6 25 is mounted on the mounting base plate 27 connected to the adjusting cylinder 21. Both gripping frame 13 and gripping frame 14 are positioned using three points. The diagonal points are clamped by cylinders, and the outer positioning point is compensated for the drop difference between the front and back sleeves by adjusting cylinder 21.

[0048] In this embodiment, except for the transfer platform 3, the positioning points for the subframes of the other platforms are all selected from the four sleeve positions of the four subframes.

[0049] Preferably, the loading / unloading platform includes a turntable 26 and a mounting base 27. The mounting base 27 is mounted on the turntable 26 and rotates synchronously driven by the turntable 26. The mounting base 27 is provided with a positioning frame 30 for loading or unloading. The positioning frame 30 and the mounting base 27 are detachably connected. The positioning frame 30 includes at least two positioning areas. Positioning area one is used for loading the workpiece to be tested, and positioning area two is used for unloading the workpiece after testing. The loading / unloading turntable 26 is also provided with a barcode scanning device 29. A QR code 28 is affixed to the workpiece to be tested. The QR code 28 is used to record the parameters of the current workpiece to be tested and to create a file in the processor 5.

[0050] In this embodiment, the inspection platform 4 includes a coordinate measuring machine (CMM) 11 and an inspection frame mounted on the CMM 11 inspection platform. The inspection frame and the CMM 11 are detachably connected. The CMM 11 is a bridge-type CMM 11. In this embodiment, the CMM 11 is a "Helium" model, which is a high-end bridge-type CMM 11. During the production process, each component undergoes rigorous screening. During assembly, perfect and reasonable connections between components are ensured. Then, calibration is performed according to the ISO10360-2 standard, using a high-precision laser interferometer for calibration, followed by inspection using standard inspection tools certified by DKD (Dual Knocked Downs) and step gauges. Its parameters are as follows:

[0051] b Technical parameters:

[0052]

[0053] It has the following advantages:

[0054] I. Base Support with Patented Double Passive Vibration Damping: Coordinate Measuring Machines (CMMs) are primarily used in manufacturing plants, inevitably encountering vibrations from nearby machine tools or transport vehicles. This vibration can have a fatal impact on the accuracy of the CMM. Constructing a vibration-resistant foundation is a basic approach, but it increases costs and adds unnecessary complexity. Our CMM support employs a patented double passive vibration damping mechanism to prevent the effects of low-frequency vibrations, greatly ensuring measurement accuracy while reducing the hassle of constructing a vibration-resistant foundation.

[0055] II. High-Quality Granite Working Platform: The high-quality granite working platform is the support for the entire machine, and its quality directly affects the overall performance. Our coordinate measuring machine (CMM) is made of granite material, processed as a single piece, stress-free, rust-proof, corrosion-resistant, easy to maintain, with a low coefficient of thermal expansion, and minimal deformation due to temperature changes. This effectively reduces machine vibration and improves overall performance.

[0056] 3. Fully Enclosed Three-Axis Guideways, Made entirely of Granite: All our CNC machines are equipped with enclosed guideways to prevent damage from external dust and to protect them from contamination and temperature fluctuations. This is especially important for use in harsh environments. All three axes are made of granite, which is rust-resistant and has the same coefficient of thermal expansion, resulting in higher precision!

[0057] IV. Transmission System – Patented Friction-Based “Self-Correcting” Transmission: All three axes utilize patented friction transmission with a “self-correcting” smooth transmission system. The transmission system employs a “fixed + micro-suspended” structure to ensure parallelism with the guide rail during transmission! It maintains accuracy stability and smooth movement even at high speeds. Furthermore, it enhances self-protection against machine tool collisions, making it safer to use.

[0058] Some parameters of the measuring head of the coordinate measuring machine 11 are as follows:

[0059] It consists of three parts: probe base, probe head, and probe stylus.

[0060] Measurement Stand: PH10M plus electrically operated rotatable / oscillating automatic measurement stand, specifically brand RENISHAW. The PH10M plus electrically operated rotatable / oscillating system can quickly, completely, and repeatedly measure workpieces with more complex structures. The machine's rotatable flexibility makes measurement operations faster and more convenient.

[0061] Measurement repeatability accuracy: +0.5 micrometers

[0062] Scale division: 7.5°

[0063] Rotation degree: +180°

[0064] Swing angle: 0°-105°

[0065] Total number of locations: 720

[0066] Maximum torque: 0.45 Nm

[0067] Weight: 620g

[0068] Operating temperature: 10-40℃.

[0069] Its advantages over 3D optical inspection are: 1. It can effectively and accurately detect the diameter and radius of holes in parts; 2. It can accurately detect the position of studs and nuts; 3. It can solve the measurement requirements that optical inspection cannot measure due to the shooting angle; 4. It can detect problems that optical gauges cannot measure due to the brightness of the part surface; 5. It can solve the measurement of the dimensions of complex shaped surfaces. The technical advantages of this solution are: 1. Improved measurement accuracy; 2. The coordinate measuring machine has a simple structure, good structural rigidity, and large weighing capacity; 3. Strong adaptability to operating environment; 4. High flexibility.

[0070] In this embodiment, a holding rack is also included, on which positioning racks 6 are provided to match different products. The positioning platform 30 includes a positioning block 31 for cooperating with the workpiece sleeve, and a mounting block 32 at the bottom for fixedly connecting with the mounting base plate 27. The mounting block 32 is fixedly connected to the mounting base plate 27 by bolts.

[0071] This embodiment also includes a transfer platform 3, on which a support frame 37 is provided. The support frame 37 is equipped with support columns 35 and support blocks 36. The center of the workpiece to be inspected can be positioned and mounted on the support columns 35 and support blocks 36. The four corners of the workpiece to be inspected, used as base points for the positioning frame 6 to grip, are in a suspended state. The sub-frame is mounted on the support blocks 36 and support columns 35. Its specific position and structure should be designed according to the shape of the sub-frame so that it can be fixed by the support frame 37 and support columns 35. When the front side has been inspected, the sub-frame is placed on the transfer platform 3. At this time, the positioning frame 6 only needs the other side of the sub-frame to achieve the inspection of the reverse side. Since the front and reverse sides have different structures, this embodiment uses two sets of coordinate measuring machines 11 to inspect the front and reverse sides respectively.

[0072] This embodiment also discloses an online inspection method for a subframe, including the aforementioned online inspection device for a subframe. The inspection device includes a QR code 28 set on the workpiece to be inspected, and a barcode scanning device 29 set on the loading / unloading platform 2 for reading information from the QR code 28. The barcode scanning device 29 is connected and interacts with the processor 5. The inspection method includes the following steps:

[0073] Step 1: According to the model of the workpiece to be tested, assemble the matching positioning frame 6, loading and unloading platform 2, transfer platform 3, and testing platform 4;

[0074] Step 2: The barcode scanning device 29 reads the QR code 28 on the workpiece to be tested and transmits the read information to the processor 5. The processor 5 then creates a file for the product based on the received information.

[0075] Step 3: Robot arm 1 grasps the front of the workpiece to be tested and then transports the workpiece to the inspection table 7. The inspection table 7 transmits the detected data to the processor 5. The processor 5 records and archives the information of the front of the workpiece.

[0076] Step 4: Robot arm 1 transports the workpiece to be tested to the transfer platform. Then, robot arm 1 grabs the other side of the workpiece and transports it to the inspection table 28 to inspect the back side of the workpiece and transmits the inspection data to the processor 5. The processor 5 records and archives the information of the workpiece on the back side.

[0077] Step 5: Robot arm 1 moves the workpiece to be tested to loading / unloading platform 2 for unloading.

[0078] Because the present invention adopts the above technical solution, it has the following significant technical effects:

[0079] This invention discloses an online subframe inspection device. This inspection mechanism can combine a coordinate measuring machine 11, positioning tools, robots and other hardware and analysis software to automatically and quickly perform measurements, provide result analysis, and record traceability.

[0080] Example 2

[0081] The difference from Embodiment 1 is that it also includes an isolation light grating. An alarm is triggered when personnel enter the area enclosed by the light grating to ensure personnel safety.

[0082] Example 3

[0083] The difference from Embodiment 1 is that in this embodiment, the positioning stand 30 includes a positioning block 31 for cooperating with the workpiece sleeve, the mounting base 27 is provided with a limit block at the position of the mounting block 32, the limit block forms an L-shaped limit side, and also includes a locking bolt, the locking bolt is located on the two sides opposite the L-shaped limit side, the locking bolt and the limit block form a rectangular mounting area for positioning the mounting block 32, and the mounting block 32 is provided with a pull ring 33.

Claims

1. A subframe online inspection device, characterized in that: It includes a robotic arm (1), a loading and unloading platform (2), a transfer platform (3), a detection platform (4), and a processor (5); The robot arm (1) includes the robot arm (1) body and the positioning frame (6) connected to the end of the robot arm (1) body. The positioning frame (6) is used to grasp the sub-frame to be tested. The positioning frame (6) grasps the front or back of the sub-frame to be tested. The robot arm (1) transports the sub-frame to be tested between the loading and unloading platform (2), the transfer platform (3), and the testing platform (4) through the positioning frame (6). The loading and unloading platform (2) is used for loading uninspected subframes and unloading inspected subframes; The transfer platform (3) is used for switching between the front and back sides of the subframe to be tested; The testing platform (4) includes testing platform one (7) and testing platform two (8), which are respectively arranged on both sides of the transfer platform (3); both testing platform one (7) and testing platform two (8) are equipped with a coordinate measuring machine (11), which is used to test the parameters of the subframe to be tested; testing platform one tests the front of the subframe to be tested, and testing platform two tests the back of the subframe to be tested; The processor (5) controls the operation of the detection device by connecting and interacting with the robot arm (1), loading and unloading platform (2), transfer platform (3), and detection platform (4). The processor (5) also includes a storage module (12), and the data parameters detected by the detection platform (4) are stored by the storage module (12). The positioning frame (6) includes a frame body and a gripping frame one (13) set on one side of the frame body and a gripping frame two (14) set on the other side of the frame body. The gripping frame one (13) and the gripping frame two (14) are used to grip the front and back of the sub-frame to be tested, respectively. The frame body is provided with a connecting plate (15) for connecting with the robot arm (1) body. The connecting plate (15) is fixed to the end of the robot arm (1) body by bolts. The gripping frame 1 (13) is a rectangular frame, which includes positioning point 1 (16), positioning point 2 (17) and positioning point 3 (18) set at the four corners of the rectangular frame. Positioning point 1 (16) and positioning point 3 (18) are set diagonally. Positioning point 1 (16) and positioning point 2 (17) are located at the two ends of the crossbeam on the side close to the robot arm (1). Positioning point 1 (16) and positioning point 3 (18) are both equipped with positioning pneumatic pressure arms (20) and positioning bosses (19) for positioning the subframe sleeve to be tested. Positioning point 2 (17) is equipped with a positioning boss (19). Positioning point 3 (18) is also equipped with an adjusting cylinder (21). The end of the adjusting cylinder (21) is equipped with a fixing plate (22). The pneumatic pressure arm (20) on positioning point 3 (18) is fixedly installed on the fixing plate (22). The second gripper (14) is a rectangular frame. The frame of the second gripper (14) is the same as that of the first gripper (13). It includes positioning points four (24), five (24), and six (25) set at the four corners of the rectangular frame. Positioning points four (24) and six (25) are set diagonally. Pneumatic pressure arms (20) for clamping the subframe to be tested are set on positioning points four (24) and six (25). Positioning points four (24) and two (17) are located at the same end of the positioning frame (6) and Positioning points 5 (24) and 1 (16) are located on the same end of the positioning frame (6) and on its front and back sides respectively. Positioning points 6 (25) and 3 (18) are located at the two ends of the crossbeam of the positioning frame (6) away from the robot arm (1) respectively, and are located on the front and back sides of the positioning frame (6) respectively. An adjusting cylinder (21) is provided at positioning point 6 (25), and the pneumatic pressure arm (20) at positioning point 6 (25) is installed on the mounting base plate (27) connected to the adjusting cylinder (21). The transfer platform (3) is equipped with a support frame (37), and the support frame (37) is equipped with a support column (35) and a support block (36). The middle positioning of the sub-frame to be tested is installed on the support column (35) and the support block (36). The four corners of the sub-frame to be tested are used as the base points for the positioning frame (6) to grab, which are in a suspended state.

2. The online subframe testing device according to claim 1, characterized in that: The loading and unloading platform includes a turntable (26) and a mounting base plate (27). The mounting base plate (27) is mounted on the turntable (26) and rotates synchronously driven by the turntable (26). The mounting base plate (27) is provided with a positioning platform (30) for loading or unloading. The positioning platform (30) and the mounting base plate (27) are detachably connected. The positioning platform (30) includes at least two positioning areas. Positioning area one is used for loading the subframe to be tested, and positioning area two is used for unloading the subframe after testing. The loading and unloading turntable (26) is also provided with a barcode scanning device (29). A QR code (28) is pasted on the subframe to be tested. The QR code (28) is used to record the parameters of the current subframe to be tested and to file it in the processor (5).

3. The online subframe testing device according to claim 1, characterized in that: The testing platform (4) includes a coordinate measuring machine (11) and a testing frame on which the coordinate measuring machine (11) is mounted. The testing frame and the coordinate measuring machine (11) are detachably connected. The coordinate measuring machine (11) is a bridge-type coordinate measuring machine (11).

4. The online subframe testing device according to claim 1, characterized in that: It also includes a holding rack, on which a positioning frame (6) is provided to match different subframes.

5. The online subframe testing device according to claim 2, characterized in that: The positioning platform (30) includes a positioning block (31) for engaging with the subframe sleeve, and a mounting block (32) at the bottom for fixed connection with the mounting base plate (27). The mounting block (32) is fixedly connected to the mounting base plate (27) by bolts.

6. The online subframe testing device according to claim 5, characterized in that: The mounting base plate (27) is provided with a limit stop at the position of the mounting block (32). The limit stop forms an L-shaped limit edge and also includes a locking bolt. The locking bolt is located on the two sides opposite the L-shaped limit edge. The locking bolt and the limit stop form a rectangular mounting area for positioning the mounting block (32). A pull ring (33) is provided on the mounting block (32).

7. A method for online inspection of a subframe, characterized in that: The device includes an online subframe inspection device according to any one of claims 1 to 6. The inspection device includes a QR code (28) set on the subframe to be tested, and a barcode scanner (29) set on the loading and unloading platform (2) for reading the information of the QR code (28). The barcode scanner (29) is connected and interacts with the processor (5). The inspection method includes the following steps: Step 1: According to the model of the subframe to be tested, assemble the positioning frame (6), loading and unloading platform (2), transfer platform (3), and testing platform (4) that are matched with it. Step 2: The scanning device (29) reads the QR code (28) on the subframe to be tested and transmits the read information to the processor (5). The processor (5) creates a file for the subframe to be tested based on the received information. Step 3: The robot arm (1) grabs the front of the subframe to be tested and then transports the subframe to be tested to the testing station (7). The testing station (7) transmits the tested data to the processor (5). The processor (5) records and archives the information of the front subframe to be tested. Step 4: The robot arm (1) transports the subframe to be tested to the transfer platform. Then, the robot arm (1) grabs the back of the subframe to be tested and transports it to the testing station (8) to test the back of the subframe to be tested and transmits the test data to the processor (5). The processor (5) records and archives the information of the back of the subframe to be tested. Step 5: The robot arm (1) moves the subframe to be tested to the loading and unloading platform (2) for unloading.

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