Flatness detection device for angle sensing sheet of automobile steering device and application of flatness detection device

Abstract

The invention relates to a flatness detection device for an angle sensing sheet of an automobile steering device and application thereof. The flatness detection device comprises a material conveying mechanism, a feeding and discharging mechanism, a plane detection mechanism and a distribution mechanism, the material conveying mechanism comprises a rotary feeder and a belt conveyor; the feeding and discharging mechanism comprises a servo motor, a linear module and a material taking device, the servo motor is connected with the linear module, and the material taking device is arranged on the linear module in a sliding mode; the plane detection mechanism is used for detecting the flatness of the part; and the distribution mechanism is used for classifying and boxing the detected qualified parts or unqualified parts. The device can realize automatic operation, can completely replace manual detection operation, adopts an assembly line operation mode, can be seamlessly connected with a production line, can continuously process a large number of parts, greatly improves the working efficiency of the production line, is high in detection precision, can find tiny errors which are difficult to detect by a traditional detection method, and is high in practicability. And the part detection precision requirement is met.

Description

Technical Field

[0001] The invention relates to a device for detecting the flatness of an angle sensing piece of an automobile steering gear and application thereof, belonging to the technical field of inspection and detection. Background Art

[0002] Part flatness detection involves the measurement and control of the geometric accuracy of part surfaces in industrial manufacturing. Especially in high-precision manufacturing and assembly, flatness is a key geometric characteristic that affects part function and assembly quality. Flatness detection aims to ensure that each point on a part surface does not deviate too far from the ideal plane to ensure matching with other parts and overall function, thereby ensuring the service life and safety of the product.

[0003] The angle sensor of the automobile steering gear is a cold stamping part, which is a key component of the automobile steering system. It is mainly composed of two parts: the inner ring and the outer ring (see attached Figure 1 ), the inner and outer rings are connected to each other through a specific structure. This part is responsible for collecting steering angle and direction information during operation, and its performance directly affects the stability and safety of the vehicle steering system. Therefore, the geometric accuracy of the part, especially the flatness of the inner and outer rings, is crucial. Since the inner and outer rings of the part bear different forces during the pressing process, this unbalanced force may cause deformation of the part, which in turn affects the stability and sensing accuracy of the part. Before the part leaves the factory, the flatness of the inner and outer rings needs to be strictly tested to ensure that it can maintain the ideal geometric shape and functional performance under actual working conditions.

[0004] Traditional flatness detection methods include manual detection and the use of mechanical measuring tools (such as micrometers) for flatness detection. This method is suitable for the detection of simple or large workpieces, but for high-precision parts, the accuracy is not enough and the efficiency is low; using a three-dimensional coordinate measuring machine (CMM) to measure the point position by contacting the surface of the part with a stylus, although the accuracy is high, it still requires manual operation and the measurement speed is slow, which is not suitable for large-scale detection of such parts. Most of the existing automatic plane detection equipment uses a fixed part and a mobile sensor to contact the surface of the part for measurement. In this way, the accuracy of the sensor is easily affected by factors such as vibration and wear of the motion mechanism, and it is difficult to ensure the accuracy of the detection results during long-term and large-scale detection. Therefore, the manufacturer of this part urgently needs to develop a set of automated equipment that can accurately and efficiently detect flatness errors to complete the automation upgrade of the part production line. Summary of the invention

[0005] In view of the deficiencies in the prior art, the present invention provides a device for detecting the flatness of an angle sensing piece of an automobile steering gear.

[0006] The present invention also provides a detection method for the above-mentioned vehicle steering gear angle sensing piece flatness detection device.

[0007] The technical solution of the present invention is as follows:

[0008] A device for detecting the flatness of an angle sensing piece of an automobile steering gear comprises a material transport mechanism, a loading and unloading mechanism, a plane detection mechanism and a distribution mechanism;

[0009] The material transport mechanism includes a rotary feeder and a belt conveyor. The rotary feeder is connected to the head end of the belt conveyor, and the end of the belt conveyor is located on one side of the loading and unloading mechanism.

[0010] The loading and unloading mechanism includes a servo motor, a linear module and a material picker, the servo motor is connected to the linear module, and the material picker is slidably arranged on the linear module;

[0011] The plane detection mechanism detects the flatness of parts;

[0012] The distribution organization classifies and packs the qualified or unqualified parts after the inspection.

[0013] Preferably, NG material boxes and PASS material boxes are provided on both sides of the distribution mechanism.

[0014] Preferably, the rotary feeder comprises a base, a vibration plate and a vibration motor, the vibration motor is arranged on the base, the output shaft of the vibration motor is connected to the vibration plate, and a feeding port is provided on the vibration plate.

[0015] Preferably, a part locator and a micro sensor are provided at the end of the belt conveyor, the part locator is a V-shaped stopper, and the micro sensor is provided at the bottom of the V-shaped stopper.

[0016] Preferably, the micro sensor is a photoelectric proximity sensor.

[0017] Preferably, the linear module is provided with two material takers, which include a connecting plate, a servo electric cylinder, a mounting plate and an electromagnet, the servo electric cylinder is provided on the connecting plate, the connecting plate is connected to the linear module, and the electromagnet is connected to the output rod of the servo electric cylinder through the mounting plate. The advantage of this design is that two material takers are installed on the linear module, one material taker loads the material from the belt conveyor to the plane detection mechanism, and the other material taker unloads the material from the plane detection mechanism to the distribution mechanism, so that the division of labor and cooperation are more efficient.

[0018] Preferably, the plane detection mechanism includes a shell, a boss mounting plate, a positioning boss, and a bracket, a servo motor, a linear module, a linear displacement sensor, and a sensor mounting plate placed in the shell; the servo motor and the linear module are connected and arranged on the bracket, the boss mounting plate is connected to the linear module, the positioning boss is arranged on the boss mounting plate, the sensor mounting plate is arranged on the top of the linear module, and three linear displacement sensors are arranged on the sensor mounting plate and their bottom ends extend out of the shell.

[0019] Preferably, the three linear displacement sensors are distributed on the same circumference, and the bottom ends of the three linear displacement sensors are located on the same horizontal plane.

[0020] Preferably, the distribution mechanism includes a flap, an electric push rod and a base, the cylinder of the electric push rod is hinged to the base, the piston rod of the electric push rod is hinged to one end of the flap, and the other end of the flap is hinged to the top of the base. The advantage of this design is that the pitch angle of the flap can be adjusted by the extension and retraction of the electric push rod, so that qualified parts can be loaded into different material boxes.

[0021] Preferably, the vibration motor, micro sensor, servo motor, servo electric cylinder, electromagnet, linear displacement sensor, and electric push rod are all connected and controlled by PLC.

[0022] A working method of a vehicle steering gear angle sensing piece flatness detection device comprises the following steps:

[0023] 1) Multiple parts to be tested are placed on the vibration plate, and the vibration plate vibrates continuously and frequently to make the parts to be tested enter the feeding port;

[0024] 2) The parts to be tested enter the belt conveyor from the feeding port, and the parts are transported to the part locator by the belt conveyor;

[0025] 3) The picker picks up the parts at the part locator and then moves the parts onto the positioning boss;

[0026] 4) The plane detection mechanism performs flatness detection on parts;

[0027] 5) The picker picks up the inspected parts and then moves the parts onto the flap of the distribution mechanism;

[0028] 6) The electric push rod of the distribution mechanism operates. If it is a qualified part, the electric push rod extends and the part slides into the PASS material box. If it is an unqualified part, the electric push rod retracts and the part slides into the NG material box.

[0029] A detection method for a flatness detection device for an angle sensing piece of an automobile steering gear comprises the following steps:

[0030] 1) Take the reference plane of the plane detection mechanism as the XOY plane, and set the inner ring surface of the part to coincide with the reference plane; three linear displacement sensors are in contact with the upper surface of the part, and the linear distances of the three points on the upper surface of the part are detected as H1, H2, and H3. Then H1, H2, and H3 correspond to the absolute heights of the three detection points on the outer ring plane of the part. Combined with the calibration data, the heights of the three points to the reference plane can be calculated

[0031] 2) The general equation of a plane is aX+bY+cZ+d=0, and the corresponding plane normal vector is but The three points P1(x1,y1,z1), P2(x2,y2,z2) and P3(x3,y3,z3) on the known plane are perpendicular to the vectors in the plane. The x and y coordinates of the three points are fixed values, which correspond to the installation positions of the three linear displacement sensors respectively. Then:

[0032]

[0033]

[0034]

[0035] 3) Expand formula 3):

[0036]

[0037] but:

[0038] a=(y2-y1)*(z3-z1)-(y3-y1)*(z2-z1) (5)

[0039] b=(z2-z1)*(x3-x1)-(z3-z1)*(x2-x1) (6)

[0040] c=(x2-x1)*(y3-y1)-(x3-x1)*(y2-y1) (7)

[0041] d=-ax1-by1-cz1=-ax2-by2-cz2=-ax3-by3-cz3 (8)

[0042] 4) Based on the calibration results of the three points of the reference plane, the plane parameters a, b, c, and d are obtained according to equations (5)-(8). The three points of the outer ring plane of the part are measured and the part plane parameters a', b', c', and d' are obtained in the same way. The normal vector of the reference plane, that is, the normal vector of the plane where the inner ring is located, is The normal vector of the plane where the outer ring lies is Then the angle θ between the two planes can be expressed as:

[0043]

[0044] The reference plane corresponds to the XOY plane, the plane equation is Z = 0, the corresponding equation parameters are a = b = d = 0, c = 1, and the reference plane normal vector is So formula (9) can be written as:

[0045]

[0046] 5) Based on the data measured by the linear displacement sensor, the distance l from the center of the part to the reference surface can be calculated:

[0047]

[0048] Combining the angle θ between the plane where the outer ring of the part is located and the reference plane and the diameter D of the outer ring of the part in formula (10), the maximum distance L from the outer ring of the part to the reference plane can be calculated:

[0049]

[0050] Take the flatness error value δ=L, compare δ with the set error threshold ε (0.09mm<ε<0.10mm), and when δ<ε, the part is judged to be qualified, otherwise the part is unqualified.

[0051] Technical features and beneficial effects of the present invention:

[0052] 1. The detection device of the present invention can realize automated operation and completely replace manual detection operations. At the same time, the detection efficiency is high. The equipment adopts an assembly line operation mode and can be seamlessly connected with the production line. Compared with traditional manual detection, the equipment can continuously process a large number of parts, and the automated system can run uninterruptedly, which can greatly improve the work efficiency of the production line, especially in a mass production environment. The equipment can maintain stable high efficiency; during plane detection, three sensors simultaneously measure the position information of corresponding points. Compared with a single sensor measuring three points in sequence, not only is the detection efficiency high, but it can also reduce the error caused by moving the sensor position.

[0053] 2. The detection device of the present invention has high detection accuracy and meets the requirements of part detection accuracy. Detection accuracy is one of the core competitiveness of the equipment. By using high-precision linear displacement sensors and high-precision linear modules, the equipment can stably control the flatness measurement accuracy within the detection accuracy requirements and can detect tiny errors that are difficult to detect with traditional detection methods. For each part in large quantities, the equipment can provide stable and reliable high-precision detection results.

[0054] 3. The detection device of the present invention has good stability. The design of the equipment takes into account the needs of long-term operation and selects wear-resistant core components. The reference surface selected for plane detection can be calibrated before use to update the reference surface parameter information to avoid the decrease in accuracy caused by mechanical wear affecting the reference surface, thereby ensuring stable accuracy during long-term use. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] Figure 1 It is a structural schematic diagram of the angle sensing piece;

[0056] Figure 2 This is a schematic diagram of the detection points of the calibration plate;

[0057] Figure 3 It is a schematic diagram of the overall structure of the detection device;

[0058] Figure 4 It is a schematic diagram of the structure of the vibration plate of the material transport mechanism;

[0059] Figure 5a It is a schematic diagram of the conveyor belt structure of the material transport mechanism;

[0060] Figure 5b for Figure 5a A magnified schematic diagram of part A;

[0061] Figure 6a It is a schematic diagram of the loading and unloading mechanism structure;

[0062] Figure 6b for Figure 6a A magnified schematic diagram of part B;

[0063] Figure 7 It is a schematic diagram of the flatness detection mechanism structure;

[0064] Figure 8 This is a schematic diagram of the distribution mechanism structure;

[0065] Fig. 9 It is a flowchart for automatic detection;

[0066] In the figure: 1- material transport mechanism, 2- loading and unloading mechanism, 3- plane detection mechanism, 4- distribution mechanism, 5- NG material box, 6- PASS material box, 7- base, 8- vibration plate, 9- linear feeder, 10- guide bar, 11- belt, 12- belt adjustment block, 13- stepping motor, 14- angle adjustment block, 15- conveyor belt bracket, 16- adjustment hand wheel, 17- micro sensor, 18- part locator, 19- linear module, 20- electric cylinder connection Connecting plate, 21-second servo electric cylinder, 22-first servo electric cylinder, 23-support plate, 24-electromagnet mounting plate, 25-second electromagnet, 26-first electromagnet, 27-buffer gasket, 28-part positioning plate, 29-linear displacement sensor, 30-sensor mounting plate, 31-positioning boss, 32-linear module, 33-servo motor, 34-bracket, 35-housing, 36-boss mounting plate, 37-flip plate, 38-electric push rod, 39-base. DETAILED DESCRIPTION

[0067] The present invention will be further described below by way of embodiments in conjunction with the accompanying drawings, but is not limited thereto.

[0068] Embodiment 1:

[0069] like Figure 3-8As shown, this embodiment provides a device for detecting the flatness of an angle sensing piece of an automobile steering gear, comprising a material transport mechanism 1, a loading and unloading mechanism 2, a plane detection mechanism 3 and a distribution mechanism 4;

[0070] The material transport mechanism 1 includes a rotary feeder and a belt conveyor. The rotary feeder is connected to the head end of the belt conveyor, and the end of the belt conveyor is located on one side of the loading and unloading mechanism.

[0071] The loading and unloading mechanism 2 includes a servo motor, a linear module 19 and a picker. The servo motor is connected to the linear module 19, and the picker is slidably arranged on the linear module 19. The picker can absorb the parts on the belt conveyor and release them to the plane detection mechanism 3, and can also absorb the parts after the detection and release them to the distribution mechanism 4.

[0072] The plane detection mechanism 3 performs a flatness detection on the parts;

[0073] The distribution mechanism 4 classifies and packs qualified parts or unqualified parts after the inspection.

[0074] An NG material box 5 and a PASS material box 6 are provided on both sides of the distribution mechanism 4. The NG material box 5 is used to hold unqualified parts, and the PASS material box 6 is used to hold qualified parts.

[0075] For the convenience of loading and unloading and testing, the belt conveyor, the plane detection mechanism 3 and the distribution mechanism 4 are all located on the same side of the loading and unloading mechanism 2.

[0076] Specifically, the rotary feeder includes a base 7, a vibration plate 8 and a vibration motor. The vibration motor is installed on the base 7. The output shaft of the vibration motor is connected to the bottom of the vibration plate 8. The vibration plate 8 is circular and is used to receive parts from the production line. A feeding port is opened along the tangent direction of the circumference of the vibration plate. The size of the feeding port is 1.5-2.5mm larger than the outer size of the part. Only one part is allowed to pass through at a time, which is used to orient and arrange the material.

[0077] The belt conveyor is an improved conveyor, with guide strips 10 installed on both sides of the belt to prevent parts from falling. A linear feeder 9 is provided between the feeding port of the rotary feeder and the end of the belt. The size between the linear feeder and the guide strips on both sides is also 1.5-2.5mm larger than the outer size of the part, and only one part is allowed to pass at a time.

[0078] The end of the belt conveyor is equipped with a part locator 18 and a micro sensor 17, wherein the part locator 18 is a V-shaped stopper, and the micro sensor 17 is installed at the bottom of the V-shaped stopper. In this embodiment, the micro sensor 17 uses a photoelectric proximity sensor. The part locator 18 is installed at the tail of the conveyor belt, and the position can be adjusted according to the electromagnet suction position; the photoelectric proximity sensor detects whether the part is in place, and transmits the signal to the PLC, controls the start and stop of the conveyor belt, and transmits the status signal to the next process.

[0079] Two material takers are arranged on the linear module 19, and the material takers include a connecting plate, a servo electric cylinder (i.e., the first servo electric cylinder 22 and the second servo electric cylinder 21), a mounting plate and an electromagnet (i.e., the first electromagnet 26 and the second electromagnet 25). The servo electric cylinder is mounted on the connecting plate by bolts, and the connecting plate is connected to the linear module. The electromagnet is connected to the output rod of the servo electric cylinder through the electromagnet mounting plate 24. Two material takers are installed on the linear module 19, one material taker loads the material from the belt conveyor to the plane detection mechanism, and the other material taker unloads the material from the plane detection mechanism to the distribution mechanism, with division of labor and cooperation, and higher efficiency. During operation, the linear module 19 is driven by a servo motor, and the connecting plate moves back and forth on the linear module. When the electromagnet absorbs the parts, it can ensure that the inner hole of the part and the electromagnet do not move relative to each other, thereby ensuring the accuracy of the material discharge.

[0080] The plane detection mechanism 3 includes a shell 35, a boss mounting plate 36, a positioning boss 31, and a bracket 34, a servo motor 33, a linear module 32, a linear displacement sensor 29, and a sensor mounting plate 30 placed in the shell 35; the servo motor 33 and the linear module 32 are connected and installed on the bracket 34, the boss mounting plate 36 is connected to the linear module 32 and can move up and down along the linear module, the positioning boss 31 is fixedly mounted on the boss mounting plate 36, the sensor mounting plate 30 is mounted on the top of the linear module 32, and three linear displacement sensors 29 are fixedly mounted on the sensor mounting plate 30 and the bottom contact probe of the linear displacement sensor 29 extends out of the shell 35 and is located above the positioning boss 31.

[0081] The three linear displacement sensors 29 are evenly distributed on the same circumference, and the bottom contact probes of the three linear displacement sensors are located on the same horizontal plane. The sensor mounting plate 30 is provided with three mounting holes with axes parallel to each other. The mounting holes are evenly arrayed at intervals of 120° on a circumference with a diameter of D'. In order to reduce the influence of calculation errors, D' should be as large as possible, and D'=D-5mm is taken. The axes of the mounting holes pass through the three detection points of the part to be detected in the working position, such as Figure 2The linear displacement sensor 29 is installed on the sensor mounting plate 30 by means of the mounting hole, and the contact probe of the sensor is located at the bottom. The protective housing 35 has a circular hole at the corresponding position of the sensor, and the sensor probe extends from the circular hole to contact the part to be inspected. The three linear displacement sensors 29 are all micron-level (unit: μm) sensors to ensure detection accuracy.

[0082] The distribution mechanism 4 includes a flap 37, an electric push rod 38 and a base 39. The cylinder of the electric push rod 38 is hinged to the base 39, the piston rod of the electric push rod 38 is hinged to one end of the flap 37, and the other end of the flap 37 is hinged to the top of the base 39. The pitch angle of the flap 37 is adjusted by the extension and retraction of the electric push rod 38, so that qualified parts can be loaded into different material boxes.

[0083] The entire flatness detection device is connected and controlled by PLC to achieve automated operation. The vibration motor, micro sensor, servo motor, servo cylinder, electromagnet, linear displacement sensor, and electric push rod are all connected and controlled by PLC. After the micro sensor detects that the part is in place, it transmits the signal to PLC. PLC controls the servo motor of the loading and unloading mechanism to operate, so that the electromagnet of the picker can absorb the part at the part locator and move it to the top of the positioning boss, and then release the part on the positioning boss. The servo motor of the plane detection mechanism starts, the positioning boss is raised, and the three linear displacement sensors detect the flatness of the part and transmit the test results to PLC, which records whether the test results are qualified. After the test is completed, the positioning boss descends, and at the same time, another picker absorbs the part and moves it to the top of the distribution mechanism. Under the control of PLC, the electric push rod sends the qualified parts to the PASS material box and the unqualified parts to the NG material box according to the recorded test results.

[0084] Embodiment 2:

[0085] A device for detecting the flatness of an angle sensing piece of an automobile steering gear has a structure as described in Example 1, except that a belt adjusting block 12 and an angle adjusting block 14 are provided on a belt conveyor, the belt conveyor is mounted on a conveyor belt bracket 15 and is driven by a stepper motor 13, an adjusting hand wheel 16 is provided on the conveyor belt bracket 15, and a height adjustment system is composed of the adjusting hand wheel 16, the bracket 15, and the angle adjusting block 14.

[0086] Among them, the two ends of the conveyor belt bracket 15 are driven to extend and retract by the adjusting handwheel 16 through the lead screw, the angle adjustment block 14 is hinged to the top of the bracket, and the upper end surface of the angle adjustment block 14 is matched with the profile groove of the conveyor belt through bolts. When adjusting, loosen the bolts, the angle adjustment block 14 can move along the profile groove, and tighten the bolts after the adjustment is completed, and the position of the conveyor belt is fixed. When the adjusting handwheels at both ends rotate inconsistently, the height changes of the two brackets are different, and the angle adjustment can be achieved; when the two adjusting handwheels rotate consistently, the two brackets are raised or lowered at the same time to achieve height adjustment.

[0087] The belt adjusting block 12 cooperates with the profile grooves on both sides of the conveyor belt through bolts, and can slide along the conveyor belt profile grooves in the conveying direction; the conveyor belt shaft is installed at the tail of the belt adjusting block. Adjusting the position of the belt adjusting block 12 can change the distance between the two conveyor belt shafts to achieve the adjustment of the belt tension.

[0088] Embodiment 3:

[0089] A working method of a flatness detection device for an angle sensing piece of an automobile steering gear, using the flatness detection device described in Example 1, comprises the following steps:

[0090] 1) Multiple parts to be inspected coming off the production line are placed on the vibration plate 8. The vibration plate 8 is vibrated frequently and continuously by the vibration motor to make the parts to be inspected enter the feeding port;

[0091] 2) The part to be tested enters the belt conveyor from the feeding port through the linear feeder, and the part is transported by the belt conveyor to the part locator 18, at which time the micro sensor 17 detects that the part is in place;

[0092] 3) PLC controls the picker to pick up the parts at the part locator, then controls the picker to move to just above the positioning boss 31, and then moves the parts onto the positioning boss 31;

[0093] 4) The plane detection mechanism 3 performs a flatness detection on the part; the positioning boss 31 rises to make the surface of the part contact with the three linear displacement sensors 29, and the PLC records the detection results;

[0094] 5) After the inspection is completed, the positioning boss 31 descends, and another picker sucks the inspected parts and moves the parts to the flap 37 of the distribution mechanism 4;

[0095] 6) The electric push rod 38 of the distribution mechanism 4 operates. According to the test results recorded by the PLC, if it is a qualified part, the electric push rod 38 extends and the part slides into the PASS material box. If it is an unqualified part, the electric push rod 38 retracts and the part slides into the NG material box.

[0096] Embodiment 4:

[0097] When working in Example 3, the flatness detection process in step 4) includes the following steps:

[0098] 1) Take the reference plane of the plane detection mechanism as the XOY plane, and set the inner ring surface of the part to coincide with the reference plane; three linear displacement sensors are in contact with the upper surface of the part, and the linear distances of the three points on the upper surface of the part are detected as H1, H2, and H3. Then H1, H2, and H3 correspond to the absolute heights of the three detection points on the outer ring plane of the part. Combined with the calibration data, the heights of the three points to the reference plane can be calculated

[0099] 2) The general equation of a plane is aX+bY+cZ+d=0, and the corresponding plane normal vector is but The three points P1(x1,y1,z1), P2(x2,y2,z2) and P3(x3,y3,z3) on the known plane are perpendicular to the vectors in the plane. The x and y coordinates of the three points are fixed values, which correspond to the installation positions of the three linear displacement sensors respectively. Then:

[0100]

[0101]

[0102]

[0103] 3) Expand formula 3):

[0104]

[0105] but:

[0106] a=(y2-y1)*(z3-z1)-(y3-y1)*(z2-z1) (5)

[0107] b=(z2-z1)*(x3-x1)-(z3-z1)*(x2-x1) (6)

[0108] c=(x2-x1)*(y3-y1)-(x3-x1)*(y2-y1) (7)

[0109] d=-ax1-by1-cz1=-ax2-by2-cz2=-ax3-by3-cz3 (8)

[0110] 4) Based on the calibration results of the three points of the reference plane, the plane parameters a, b, c, and d are obtained according to equations (5)-(8). The three points of the outer ring plane of the part are measured and the part plane parameters a', b', c', and d' are obtained in the same way. The normal vector of the reference plane, that is, the normal vector of the plane where the inner ring is located, is The normal vector of the plane where the outer ring lies is Then the angle θ between the two planes can be expressed as:

[0111]

[0112] The reference plane corresponds to the XOY plane, the plane equation is Z = 0, the corresponding equation parameters are a = b = d = 0, c = 1, and the reference plane normal vector is So formula (9) can be written as:

[0113]

[0114] 5) Based on the data measured by the linear displacement sensor, the distance l from the center of the part to the reference surface can be calculated:

[0115]

[0116] Combining the angle θ between the plane where the outer ring of the part is located and the reference plane and the diameter D of the outer ring of the part in formula (10), the maximum distance L from the outer ring of the part to the reference plane can be calculated:

[0117]

[0118] Take the flatness error value δ=L, compare δ with the set error threshold ε (0.09mm<ε<0.10mm), and when δ<ε, the part is judged to be qualified, otherwise the part is unqualified.

[0119] The above description is only a specific implementation mode of the present invention, and the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by any technician familiar with the technical field within the technical scope disclosed by the present invention should be covered within the protection scope of the present invention.

Claims

1. A device for detecting the flatness of an angle sensing plate of an automobile steering gear, characterized in that: Including material transportation mechanism, loading and unloading mechanism, plane detection mechanism and distribution mechanism; The material transport mechanism includes a rotary feeder and a belt conveyor. The rotary feeder is connected to the head end of the belt conveyor, and the end of the belt conveyor is located on one side of the loading and unloading mechanism. The loading and unloading mechanism includes a servo motor, a linear module and a material picker, the servo motor is connected to the linear module, and the material picker is slidably arranged on the linear module; The plane detection mechanism detects the flatness of parts; The distribution organization classifies and packs the qualified or unqualified parts after the inspection.

2. The vehicle steering gear angle sensing piece flatness detection device according to claim 1, characterized in that: The rotary feeder comprises a base, a vibration plate and a vibration motor. The vibration motor is arranged on the base. The output shaft of the vibration motor is connected to the vibration plate. A feeding port is arranged on the vibration plate.

3. The vehicle steering gear angle sensing piece flatness detection device as claimed in claim 2, characterized in that: A part locator and a micro sensor are arranged at the end of the belt conveyor. The part locator is a V-shaped stopper, and the micro sensor is arranged at the bottom of the V-shaped stopper.

4. The vehicle steering gear angle sensing piece flatness detection device as claimed in claim 3, characterized in that: The linear module is provided with two material pickers, which include a connecting plate, a servo electric cylinder, a mounting plate and an electromagnet. The servo electric cylinder is arranged on the connecting plate, the connecting plate is connected to the linear module, and the electromagnet is connected to the output rod of the servo electric cylinder through the mounting plate.

5. The vehicle steering gear angle sensing piece flatness detection device as claimed in claim 4, characterized in that: The plane detection mechanism includes a shell, a boss mounting plate, a positioning boss, and a bracket, a servo motor, a linear module, a linear displacement sensor, and a sensor mounting plate placed in the shell; the servo motor and the linear module are connected and arranged on the bracket, the boss mounting plate is connected to the linear module, the positioning boss is arranged on the boss mounting plate, the sensor mounting plate is arranged on the top of the linear module, and three linear displacement sensors are arranged on the sensor mounting plate and their bottom ends extend out of the shell.

6. The vehicle steering gear angle sensing piece flatness detection device as claimed in claim 5, characterized in that: The three linear displacement sensors are evenly distributed on the same circumference, and the bottom ends of the three linear displacement sensors are located on the same horizontal plane.

7. The vehicle steering gear angle sensing piece flatness detection device as claimed in claim 6, characterized in that: The distribution mechanism comprises a flap, an electric push rod and a base, wherein the cylinder of the electric push rod is hinged to the base, the piston rod of the electric push rod is hinged to one end of the flap, and the other end of the flap is hinged to the top of the base.

8. The vehicle steering gear angle sensing piece flatness detection device as claimed in claim 7, characterized in that: The vibration motor, micro sensor, servo motor, servo electric cylinder, electromagnet, linear displacement sensor and electric push rod are all connected and controlled by PLC.

9. A working method of the vehicle steering gear angle sensing piece flatness detection device according to any one of claims 1 to 8, characterized in that: The following steps are involved: 1) Multiple parts to be tested are placed on the vibration plate, and the vibration plate vibrates continuously and frequently to make the parts to be tested enter the feeding port; 2) The parts to be tested enter the belt conveyor from the feeding port, and the parts are transported to the part locator by the belt conveyor; 3) The picker picks up the parts at the part locator and then moves the parts onto the positioning boss; 4) The plane detection mechanism performs flatness detection on parts; 5) The picker picks up the inspected parts and then moves the parts onto the flap of the distribution mechanism; 6) The electric push rod of the distribution mechanism operates. If it is a qualified part, the electric push rod extends and the part slides into the PASS material box. If it is an unqualified part, the electric push rod retracts and the part slides into the NG material box.

10. A method for detecting the flatness of an angle sensing piece of an automobile steering gear according to any one of claims 1 to 8, characterized in that: The following steps are involved: 1) Take the reference plane of the plane detection mechanism as the XOY plane, and set the inner ring surface of the part to coincide with the reference plane; Three linear displacement sensors are in contact with the upper surface of the part, and the linear distances detected between the three points on the upper surface of the part are H1, H2, and H3. Then H1, H2, and H3 correspond to the absolute heights of the three detection points on the outer ring plane of the part. Combined with the calibration data, the heights of the three points to the reference surface can be calculated. 2) The general equation of a plane is aX+bY+cZ+d=0, and the corresponding plane normal vector is but The three points P1(x1,y1,z1), P2(x2,y2,z2) and P3(x3,y3,z3) on the known plane are perpendicular to the vectors in the plane. The x and y coordinates of the three points are fixed values, which correspond to the installation positions of the three linear displacement sensors respectively. Then: 3) Expand formula 3): but: a=(y2-y1)*(z3-z1)-(y3-y1)*(z2-z1) (5) b=(z2-z1)*(x3-x1)-(z3-z1)*(x2-x1) (6) c=(x2-x1)*(y3-y1)-(x3-x1)*(y2-y1) (7) d=-ax1-by1-cz1=-ax2-by2-cz2=-ax3-by3-cz3 (8) 4) Based on the calibration results of the three points of the reference plane, the plane parameters a, b, c, and d are obtained according to equations (5)-(8). The three points of the outer ring plane of the part are measured and the part plane parameters a', b', c', and d' are obtained in the same way. The normal vector of the reference plane, that is, the normal vector of the plane where the inner ring is located, is The normal vector of the plane where the outer ring lies is Then the angle θ between the two planes can be expressed as: The reference plane corresponds to the XOY plane, the plane equation is Z = 0, the corresponding equation parameters are a = b = d = 0, c = 1, and the reference plane normal vector is So formula (9) can be written as: 5) Based on the data measured by the linear displacement sensor, the distance l from the center of the part to the reference surface can be calculated: Combining the angle θ between the plane where the outer ring of the part is located and the reference plane and the diameter D of the outer ring of the part in formula (10), the maximum distance L from the outer ring of the part to the reference plane can be calculated: Take the flatness error value δ=L, compare δ with the set error threshold ε (0.09mm<ε<0.10mm), and when δ<ε, the part is judged to be qualified, otherwise the part is unqualified.

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