Flexible tool for automatic detection unit

Abstract

The invention relates to an automatic detection unit flexible tool, and belongs to the field of rudder sheet measurement. The device comprises a supporting assembly (1) and a tray assembly (2), the support assembly (1) is used for providing support and zero point positioning reference, and the tray assembly (2) is arranged above the support assembly (1) and is used for bearing and fixing a part to be tested; the supporting assembly (1) comprises a zero point tool (3), a quick connection gas circuit (4), a proximity switch (5) and a bottom plate (6). The bottom plate (6) is a square plate and fixed to a three-coordinate platform, the zero point tool (3) is arranged in the middle of the upper portion of the bottom plate (6), the quick-connection gas circuits (4) are arranged at the symmetrical positions of the two sides of the zero point tool (3), and the proximity switch (5) is further arranged on the upper portion of the bottom plate. And the feasibility of automatic detection of the rudder sheet is ensured from a mechanical structure.

Description

Technical Field

[0001] The invention belongs to the field of rudder blade measurement, and in particular relates to a flexible tooling of an automated detection unit. Background Art

[0002] The rudder blades of many types of guidance cabins need to be sized before final assembly. The rudder blades of the guidance cabin have small through holes and spatial position tolerances. The existing detection methods are manual measurement combined with random inspection of spatial position tolerances by three-coordinate measuring machines. When measuring manually, one hand is required to hold the part to be measured, and the other hand is required to hold a digital display vernier caliper or other measuring tool. The measurement result depends on the experience of the inspector. When using a three-coordinate measuring machine for measurement, the part to be measured needs to be manually placed on the inspection fixture, and then the measurement coordinate system is manually established for measurement. The position repeatability of manually placed parts is low, and the measurement coordinate system needs to be re-established each time they are placed, making it impossible to use the same measurement program to continuously measure parts of the same model. Therefore, the existing detection methods have significant disadvantages such as low detection efficiency and high labor intensity of workers in handling. They cannot adapt to large-scale production programs and become a bottleneck restricting the improvement of production capacity. Summary of the invention

[0003] 1. Technical issues to be resolved

[0004] The technical problem to be solved by the present invention is how to provide a flexible tooling for an automated detection unit to solve the problems of low detection efficiency and high labor intensity of workers in existing detection means.

[0005] (II) Technical solution

[0006] In order to solve the above technical problems, the present invention proposes a flexible tooling for an automated inspection unit, comprising: a support assembly 1 and a tray assembly 2;

[0007] The support assembly 1 is arranged at the bottom to provide support and zero-point positioning reference, and the tray assembly 2 is arranged above the support assembly 1 to carry and fix the part to be tested;

[0008] The support assembly 1 includes: a zero-point tool 3, a quick-connect gas circuit 4, a proximity switch 5, and a base plate 6;

[0009] The bottom plate 6 is a square plate fixed on the three-coordinate platform. A zero-point fixture 3 is provided in the middle of the top of the bottom plate 6. Quick-connect air paths 4 are provided at symmetrical positions on both sides of the zero-point fixture 3. A proximity switch 5 is also provided on the top of the bottom plate.

[0010] The pallet assembly 2 includes: a pallet shell 7, a pallet top plate 8, a gripper joint 9, a vacuum suction cup 10, a positioning column 11, a zero point limit plate 12 and a locking rivet 13;

[0011] The tray shell 7 is the main body of the tray assembly 2, and is fixed on the top of the zero-point tooling 3 through the locking rivet 13 at the bottom of the tray shell 7. Three detection areas are provided on the top of the tray shell 7, and a plurality of positioning holes are provided in each detection area. Each vacuum suction cup 10 and the positioning column 11 are respectively inserted into the positioning hole of the tray shell 7. A through hole having the same position and size as the positioning hole on the upper surface of the tray shell 7 is provided on the tray top plate 8. The opening hole position of the tray top plate 8 is aligned with the position of the vacuum suction cup 10 and then laid on the tray shell 7. The locking rivet 13 is provided at the center of the bottom of the tray shell 7, and a zero-point limit piece 12 is also provided at the center of the lower surface of the tray shell 7.

[0012] Before the rudder blade detection, the collaborative robot grabs the tray shell 7 and moves it to the top of the bottom plate 6. After waiting for the zero-point tooling 3 to be opened, the collaborative robot grabs the tray shell 7 and slowly moves it down. The locking pin 13 will be inserted into the locking hole of the zero-point tooling 3, and the zero-point limit piece 12 will be close to the limit block of the zero-point tooling 3. When the tray shell 7 is close to the proximity switch 5 as a whole, the proximity switch 5 triggers a signal and feedback, and the system controls the zero-point tooling 3 to lock the locking pin 13 and limit the displacement of the tray shell 7 in the vertical direction and the rotation in the clockwise and counterclockwise directions in the horizontal direction. At the same time, the zero-point limit piece 12 and the limit block of the zero-point tooling 3 limit the displacement of the tray shell 7 in the two axial directions in the horizontal direction and the rotation in the vertical direction, so that the tray assembly 2 and the support assembly 1 reach a locked state;

[0013] The collaborative robot grabs the rudder blade to be tested and places it in one of the three inspection areas above the tray shell 7 according to the model. After placement is completed, the vacuum suction cup 10 placed in the rudder blade area to be tested is started to fix the rudder blade to be tested on the tray shell 7 and wait for inspection.

[0014] Wherein, a gripper joint 9 is provided on the side wall of the tray shell 7 , and the collaborative robot is docked through the gripper joint 9 when gripping the tray shell 7 .

[0015] The zero-point fixture 3 supports and locks the tray assembly 2 to ensure that the repeat positioning accuracy is within ±3 μm.

[0016] The base plate 6 is provided with a quick-connect gas path positioning screw hole, and the quick-connect gas path 4 is fastened to the base plate 6 through the positioning screw hole, and is used to provide an air supply channel for the tray assembly 2 after the zero-point tooling 3 is locked with the locking rivet 13.

[0017] The bottom plate 6 is fixed on the three-coordinate platform by screws, and the parallelism between the upper plane of the bottom plate 6 and the three-coordinate table is not greater than 0.2 mm.

[0018] The zero-point fixture 3 is fixed to the bottom plate 6 by screws, and the parallelism between the working plane of the zero-point fixture 3 and the three-coordinate table is not greater than 0.2 mm.

[0019] The pallet top plate 8 is fixed to the pallet shell 7 by screws, and each positioning column 11 is screwed into a threaded hole of the pallet top plate 8 to ensure that the positioning column is perpendicular to the pallet top plate 8 .

[0020] The zero point limiting piece 12 is fixed to the bottom of the tray shell 7 by screws, ensuring that the parallelism between the surface of the zero point limiting piece 12 and the bottom surface of the tray shell 7 is no greater than 0.2 mm.

[0021] When the rudder piece to be tested is placed on the tray housing 7, the rudder piece is fixed by the vacuum suction cup 10 and the positioning column 11;

[0022] Only the vacuum chuck 10 in the working area of ​​the part to be tested is triggered to work.

[0023] The three detection areas above the tray housing 7 are numbered A-2, B-2 and D-2.

[0024] (III) Beneficial effects

[0025] The present invention proposes a flexible tooling for an automated inspection unit, which has the following beneficial effects:

[0026] 1) The rudder blade support is stable, the test system benchmark is accurate, and the test zero position is accurate, which ensures the feasibility of rudder blade automatic detection from the mechanical structure;

[0027] 2) The structure is flexible to a certain extent, and the functions of each component are modularized. By adjusting the placement, it can be used for automatic detection of rudder blades of different models. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a schematic diagram of the flexible tooling of the present invention;

[0029] Figure 2 This is a structural diagram of the support assembly of the present invention;

[0030] Figure 3 This is a structural diagram of the tray assembly of the present invention;

[0031] Figure 4 This is a structural diagram of the tray assembly of the present invention;

[0032] Figure 5 This is a working schematic diagram of the flexible tooling of the present invention;

[0033] Figure 6 This is a working schematic diagram of the flexible tooling of the present invention;

[0034] Figure 7 It is a working schematic diagram of the flexible tooling of the present invention. DETAILED DESCRIPTION

[0035] In order to make the purpose, content and advantages of the present invention more clear, the specific implementation methods of the present invention are further described in detail below in conjunction with the drawings and examples.

[0036] This embodiment provides a flexible tooling for an automated inspection unit, comprising: a support assembly 1 and a tray assembly 2;

[0037] The support assembly 1 is arranged at the bottom to provide support and zero-point positioning reference, and the tray assembly 2 is arranged above the support assembly 1 to carry and fix the part to be tested;

[0038] The support assembly 1 includes: a zero-point tool 3, a quick-connect gas circuit 4, a proximity switch 5, and a base plate 6;

[0039] The bottom plate 6 is a square plate fixed on the three-coordinate platform. A zero-point fixture 3 is provided in the middle of the top of the bottom plate 6. Quick-connect air paths 4 are provided at symmetrical positions on both sides of the zero-point fixture 3. A proximity switch 5 is also provided on the top of the bottom plate.

[0040] The pallet assembly 2 includes: a pallet shell 7, a pallet top plate 8, a gripper joint 9, a vacuum suction cup 10, a positioning column 11, a zero point limit plate 12 and a locking rivet 13;

[0041] The tray shell 7 is the main body of the tray assembly 2, and is fixed on the top of the zero-point tooling 3 through the locking rivet 13 at the bottom of the tray shell 7. Three detection areas are provided on the top of the tray shell 7, and a plurality of positioning holes are provided in each detection area. Each vacuum suction cup 10 and the positioning column 11 are respectively inserted into the positioning hole of the tray shell 7. A through hole having the same position and size as the positioning hole on the upper surface of the tray shell 7 is provided on the tray top plate 8. The opening hole position of the tray top plate 8 is aligned with the position of the vacuum suction cup 10 and then laid on the tray shell 7. The locking rivet 13 is provided at the center of the bottom of the tray shell 7, and a zero-point limit piece 12 is also provided at the center of the lower surface of the tray shell 7.

[0042] Before the rudder blade detection, the collaborative robot grabs the tray shell 7 and moves it to the top of the bottom plate 6. After waiting for the zero-point tooling 3 to be opened, the collaborative robot grabs the tray shell 7 and slowly moves it down. The locking pin 13 will be inserted into the locking hole of the zero-point tooling 3, and the zero-point limit piece 12 will be close to the limit block of the zero-point tooling 3. When the tray shell 7 is close to the proximity switch 5 as a whole, the proximity switch 5 triggers a signal and feedback, and the system controls the zero-point tooling 3 to lock the locking pin 13 and limit the displacement of the tray shell 7 in the vertical direction and the rotation in the clockwise and counterclockwise directions in the horizontal direction. At the same time, the zero-point limit piece 12 and the limit block of the zero-point tooling 3 limit the displacement of the tray shell 7 in the two axial directions in the horizontal direction and the rotation in the vertical direction, so that the tray assembly 2 and the support assembly 1 reach a locked state;

[0043] The collaborative robot grabs the rudder blade to be tested and places it in one of the three inspection areas above the tray shell 7 according to the model. After placement is completed, the vacuum suction cup 10 placed in the rudder blade area to be tested is started to fix the rudder blade to be tested on the tray shell 7 and wait for inspection.

[0044] Wherein, a gripper joint 9 is provided on the side wall of the tray shell 7 , and the collaborative robot is docked through the gripper joint 9 when gripping the tray shell 7 .

[0045] The zero-point fixture 3 supports and locks the tray assembly 2 to ensure that the repeat positioning accuracy is within ±3 μm.

[0046] The base plate 6 is provided with a quick-connect gas path positioning screw hole, and the quick-connect gas path 4 is fastened to the base plate 6 through the positioning screw hole, and is used to provide an air supply channel for the tray assembly 2 after the zero-point tooling 3 is locked with the locking rivet 13.

[0047] The bottom plate 6 is fixed on the three-coordinate platform by screws, and the parallelism between the upper plane of the bottom plate 6 and the three-coordinate table is not greater than 0.2 mm.

[0048] The zero-point fixture 3 is fixed to the bottom plate 6 by screws, and the parallelism between the working plane of the zero-point fixture 3 and the three-coordinate table is not greater than 0.2 mm.

[0049] The pallet top plate 8 is fixed to the pallet shell 7 by screws, and each positioning column 11 is screwed into a threaded hole of the pallet top plate 8 to ensure that the positioning column is perpendicular to the pallet top plate 8 .

[0050] The zero point limiting piece 12 is fixed to the bottom of the tray shell 7 by screws, ensuring that the parallelism between the surface of the zero point limiting piece 12 and the bottom surface of the tray shell 7 is no greater than 0.2 mm.

[0051] When the rudder piece to be tested is placed on the tray housing 7, the rudder piece is fixed by the vacuum suction cup 10 and the positioning column 11;

[0052] Only the vacuum chuck 10 in the working area of ​​the part to be tested is triggered to work.

[0053] The three detection areas above the tray housing 7 are numbered A-2, B-2 and D-2.

[0054] Support assembly installation steps:

[0055] a) Fix the base plate 6 to the three-coordinate platform by screws, and ensure that the parallelism between the upper plane and the three-coordinate table is no more than 0.2 mm.

[0056] b) Fix the zero-point fixture 3 to the base plate 6 by screws, and ensure that the parallelism between the working plane of the zero-point fixture and the three-coordinate table is no greater than 0.2 mm.

[0057] c) According to the installation relationship, tighten each quick-connect gas circuit to the base plate 6, and then fix the proximity switch 5 to the base plate 6 with screws.

[0058] 2.3.2 Tray assembly installation

[0059] a) Insert each vacuum suction cup 10 into the tray shell 7, and then align the opening hole of the tray top plate 8 with the position of the vacuum suction cup and then lower it to ensure that each vacuum suction cup can be inserted into the opening, fix the tray top plate 8 on the tray shell 7 with screws, and screw each positioning column 11 into the threaded hole of the tray top plate 8 to ensure that the positioning column is perpendicular to the tray top plate 8.

[0060] b) Fix the gripper joint 9 to a fixed position on the side of the tray housing 7 by means of screws.

[0061] c) Fix the zero point limit plate 12 to the bottom of the tray shell 7 by screws, and ensure that the parallelism between the surface of the zero point limit plate 12 and the bottom surface of the tray shell 7 is no more than 0.2 mm.

[0062] d) Screw the locking rivet 13 into the bottom of the tray shell 7 to ensure that it is perpendicular to the bottom surface of the tray shell 7.

[0063] Flexible tooling work

[0064] Before conducting the rudder blade inspection, the collaborative robot grabs the pallet assembly 2 and moves it above the support assembly 1. After waiting for the zero-point tooling 3 to open, the collaborative robot grabs the pallet assembly 2 and slowly moves it down. During this period, the locking pin 13 will be inserted into the locking hole of the zero-point tooling 3, and the zero-point limit plate 12 will be close to the limit block of the zero-point tooling 3. When the pallet assembly 2 is close to the proximity switch 5 as a whole, the proximity switch 5 triggers a signal and feedback, and then the system controls the zero-point tooling 3 to lock the locking pin 13 and limit the displacement of the pallet assembly 2 in the z-axis direction and the rotation around the x-axis and y-axis, a total of 3 degrees of freedom. At the same time, the zero-point limit plate 12 and the limit block of the zero-point tooling 3 limit the displacement of the pallet assembly 2 in the x-axis and y-axis directions and the rotation around the z-axis, a total of 3 degrees of freedom, so that the pallet assembly 2 and the support assembly 1 reach a locked state.

[0065] The collaborative robot then grabs the rudder blade and places it in one of the three inspection positions A-2, B-2 or D-2 according to the model. After placement, the vacuum suction cup 10 is started. Only the vacuum suction cup in the area where the rudder blade to be inspected is placed will be triggered, fixing the rudder blade on the tray assembly 2 and waiting for inspection.

[0066] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A flexible tooling for an automated testing unit, characterized in that: include: A support assembly (1) and a tray assembly (2); The support assembly (1) is arranged at the bottom and is used to provide support and a zero-point positioning reference, and the tray assembly (2) is arranged above the support assembly (1) and is used to carry and fix the part to be tested; The support assembly (1) comprises: a zero-point tool (3), a quick-connect gas circuit (4), a proximity switch (5), and a base plate (6); The bottom plate (6) is a square plate fixed on the three-coordinate platform. A zero-point tooling (3) is provided in the middle of the top of the bottom plate (6). Quick-connect air paths (4) are provided at symmetrical positions on both sides of the zero-point tooling (3). A proximity switch (5) is also provided on the top of the bottom plate. The pallet assembly (2) comprises: a pallet shell (7), a pallet top plate (8), a gripper joint (9), a vacuum suction cup (10), a positioning column (11), a zero-point limit plate (12) and a locking rivet (13); The tray shell (7) serves as the main body of the tray assembly (2) and is fixed on the top of the zero-point tooling (3) through a locking rivet (13) at the bottom of the tray shell (7). Three detection areas are provided on the top of the tray shell (7), and a plurality of positioning holes are provided in each detection area. Each vacuum suction cup (10) and a positioning column (11) are respectively inserted into the positioning hole of the tray shell (7). A through hole having the same position and size as the positioning hole on the upper surface of the tray shell (7) is provided on the tray top plate (8). The opening hole position of the tray top plate (8) is aligned with the position of the vacuum suction cup (10) and then laid on the tray shell (7). The locking rivet (13) is provided at the center of the bottom of the tray shell (7), and a zero-point limit plate (12) is also provided at the center of the lower surface of the tray shell (7); Before the rudder blade detection is performed, the collaborative robot grabs the tray shell (7) and moves it to the top of the bottom plate (6). After waiting for the zero-point tooling (3) to open, the collaborative robot grabs the tray shell (7) and slowly moves it down. The locking pin (13) is inserted into the locking hole of the zero-point tooling (3). The zero-point limiting piece (12) is close to the limiting block of the zero-point tooling (3). When the tray shell (7) as a whole approaches the proximity switch (5), the proximity switch (5) triggers a signal and feedbacks. Then, the system controls the zero-point tooling (3) to lock the locking pin (13) and limit the displacement of the tray shell (7) in the vertical direction and the rotation in the clockwise and counterclockwise directions in the horizontal direction. At the same time, the zero-point limiting piece (12) and the limiting block of the zero-point tooling (3) limit the displacement of the tray shell (7) in the two axial directions in the horizontal direction and the rotation in the vertical direction, so that the tray assembly (2) and the support assembly (1) reach a locked state. The collaborative robot grabs the rudder blade to be tested and places it in one of the three testing areas above the tray shell (7) according to the model. After the placement is completed, the vacuum suction cup (10) placed in the rudder blade area to be tested is started to fix the rudder blade to be tested on the tray shell (7) and wait for testing.

2. The flexible tooling for the automated inspection unit according to claim 1, characterized in that: A gripper joint (9) is provided on the side wall of the tray shell (7), and the collaborative robot is connected to the tray shell (7) via the gripper joint (9) when gripping the tray shell (7).

3. The flexible tooling for the automated inspection unit according to claim 1, characterized in that: The zero-point tooling (3) supports and locks the tray assembly (2) to ensure that the repeat positioning accuracy is within ±3 μm.

4. The flexible tooling for the automated inspection unit according to claim 1, characterized in that: The base plate (6) is provided with a quick-connect gas path positioning screw hole, and the quick-connect gas path (4) is fastened to the base plate (6) through the positioning screw hole, and is used to provide an air supply channel for the tray assembly (2) after the zero-point tooling (3) and the locking rivet (13) are locked.

5. The flexible tooling for the automated inspection unit according to claim 1, characterized in that: The bottom plate (6) is fixed on the three-coordinate platform by screws, and the parallelism between the upper plane of the bottom plate (6) and the three-coordinate table surface is no greater than 0.2 mm.

6. The flexible tooling for the automated inspection unit according to claim 1, characterized in that: The zero-point fixture (3) is fixed to the base plate (6) by means of screws, and the parallelism between the working plane of the zero-point fixture (3) and the three-coordinate table is no greater than 0.2 mm.

7. The flexible tooling for the automated inspection unit according to claim 1, characterized in that: The pallet top plate (8) is fixed to the pallet shell (7) by screws, and each positioning column (11) is screwed into a threaded hole of the pallet top plate (8) to ensure that the positioning column is perpendicular to the pallet top plate (8).

8. The flexible tooling for the automated inspection unit according to claim 1, characterized in that: The zero point limiting plate (12) is fixed to the bottom of the tray shell (7) by means of screws, ensuring that the parallelism between the surface of the zero point limiting plate (12) and the bottom surface of the tray shell (7) is no greater than 0.2 mm.

9. The flexible tooling for the automated inspection unit according to claim 1, characterized in that: When the rudder piece to be tested is placed on the tray housing (7), the rudder piece is fixed by means of the vacuum suction cup (10) and the positioning column (11); Only the vacuum suction cup (10) in the working area of ​​the part to be tested is triggered to work.

10. The flexible tooling for the automated inspection unit according to claim 1, characterized in that: The three detection areas above the tray shell (7) are numbered A-2, B-2 and D-2.

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