New energy vehicle double gear full-automatic detection system and detection method
By designing a fully automated double-tooth inspection system for new energy vehicles, and employing technologies such as mechanical grippers, servo sliding seats, and laser marking, the system solves the problems of long cycle times and difficulty in information traceability during the inspection process, achieving efficient and accurate double-tooth inspection and information traceability.
Patent Information
- Application Number
- CN202511229246.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-08-29
- Publication Date
- 2025-11-21
AI Technical Summary
In existing technologies, the testing process for double-toothed components in new energy vehicles requires switching between multiple testing instruments, resulting in long testing cycles that cannot meet the needs of mass production. Furthermore, it presents problems such as reference conversion errors and difficulties in information traceability.
A fully automated double-tooth inspection system for new energy vehicles was designed, including multiple workstations and transfer mechanisms on the workbench. It utilizes components such as mechanical claws, servo sliding seats, laser marking mechanisms, and sorting robots to achieve fully automated inspection of double teeth. Key indicator detection and information traceability are completed through pneumatic inspection instruments, vision sensors, and laser printing technologies.
It has enabled fully automated batch inspection of double-toothed parts, improving inspection efficiency and accuracy, reducing human intervention, and ensuring the accuracy and traceability of inspection information.
Smart Images
Figure CN120991764A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of gear shaft parts for new energy vehicles, specifically to a fully automated detection system and method for double gears in new energy vehicles. Background Technology
[0002] The double gears used in the transmissions of new energy vehicles are core components of the transmission mechanism, requiring extremely high precision. To ensure good performance, these double gears need to be processed with very high precision. However, due to factors such as raw materials, impurities, and electroplating, defective products may be produced during machining. Therefore, double gear parts need to be inspected before leaving the factory to ensure they meet the required standards.
[0003] like Figure 1 As shown, the double-tooth gear has a shaft-shaped structure with a central mounting hole. The shaft's exterior includes two stepped external tooth surfaces, both of which are helical teeth in the same direction. In factories, the inspection of double-tooth gears requires unified management and involves a very large volume of inspections. Testing various indicators requires transferring the gears between multiple testing instruments, resulting in long testing cycles and failing to meet the testing needs of mass production in factories. Furthermore, the current practice of requiring personnel to move between different testing devices multiple times may cause reference conversion errors, reducing testing accuracy. Too many intermediate steps can also easily lead to data corruption in double-tooth gear parts, making it difficult to trace the information of double-tooth gear parts.
[0004] Therefore, the industry urgently needs equipment to establish a complete automated testing system and effective testing methods to complete the testing of all key indicators and simultaneously realize laser marking, data uploading, and qualified product grouping. Summary of the Invention
[0005] The present invention aims to provide a fully automated testing system and method for double-tooth components in new energy vehicles, so as to realize fully automated batch testing of double-tooth components and make the testing information of double-tooth components traceable.
[0006] To achieve the above objectives, the present invention adopts the following technical solution: a fully automatic detection system for double-tooth joints in new energy vehicles, comprising a worktable, wherein a loading station, a hole diameter detection station, a coarse positioning station, and a position accuracy detection station are sequentially mounted on the worktable from one side to the other; a transfer mechanism is also installed on the worktable to sequentially transfer the double-tooth joints from one station to the next; the hole diameter detection station includes a hole diameter detection seat, and a pneumatic detector for detecting the inner diameter of the double-tooth joint is provided in the center of the hole diameter detection seat; the coarse positioning station includes a first track, wherein a servo-moving position adjustment seat is mounted on the first track; an adjustment component for circumferential adjustment of the double-tooth joint is provided at one end of the first track, and a flipping mechanism for flipping the double-tooth joint is provided at the other end of the first track. The robotic arm includes a position detection station comprising a position detection seat with an axial positioning column at its center. A position detection component is mounted on one side of the position detection seat, comprising a first servo sliding seat and a second servo sliding seat. A precision positioning head is mounted on the first servo sliding seat, which drives the precision positioning head toward one of the outer teeth of the double-toothed assembly. An elastic offset disk is mounted on the second servo sliding seat, which includes a spring-connected lateral deflection block. The position measurement head is mounted at the end of the lateral deflection block, and a displacement sensor for measuring the deflection of the position measurement head is mounted on the elastic offset disk. The second servo sliding seat drives the position measurement head toward the other outer tooth of the double-toothed assembly.
[0007] Furthermore, the workbench is also equipped with a laser marking mechanism, which includes a laser marking track located on one side of the position detection seat. A servo-driven marking seat is mounted on the laser marking track. A laser printer is located above one end of the laser marking track for printing process information on the double teeth. An information scanner is located at the other end of the laser marking track for collecting printing process information on the double teeth.
[0008] Furthermore, the workbench is also equipped with a double-tooth sorting mechanism, which includes an articulated robot mounted on the workbench. The articulated robot is connected to a sorting manipulator. Below the sorting manipulator is a multi-channel double-tooth unloading trough, which is used to store double teeth of different precision.
[0009] Furthermore, the transfer mechanism includes a lifting frame installed on the workbench, on which a truss is mounted along the sequence of workstations. The truss is driven to reciprocate by a cylinder. Four mechanical claws are equidistantly installed on the truss, and the gripping points of the four mechanical claws correspond to the feeding station, the aperture detection station, the coarse positioning station, and the position detection station, respectively. The four mechanical claws are used to simultaneously grip the double teeth at multiple workstations and transfer them to the next workstation.
[0010] Furthermore, in the position detection station, the outer diameter of the axial positioning column is 0.02~0.06mm smaller than the inner diameter of the double tooth, and a damping spring that weakens the feed force of the first servo slide seat is connected to the tail end of the first servo slide seat. The elastic coefficient of the damping spring is 2-6mm / N.
[0011] Firstly, the outer diameter of the axial positioning post is 0.02~0.06mm smaller than the inner diameter of the double-toothed joint. Therefore, the maximum linear movement distance of the double-toothed joint is 0.02~0.06mm. Thus, the double-toothed joint must be able to rotate without contacting the circumferential positioning post. A damping spring is added behind the first servo sliding seat, and the spring constant of the damping spring is selected as 2-6mm / N. Before testing, the initial potential energy of the damping spring needs to be adjusted to ensure that the force of the precision positioning head is not too great, causing the double-toothed joint to jam and be unable to rotate, while maintaining a certain preload on the double-toothed joint to prevent rotation of the double-toothed joint during subsequent position measurement.
[0012] Furthermore, the position detection component also includes a rapid advance frame and a second sliding rail. The rapid advance frame is mounted on the second sliding rail and is powered by an electric lead screw. Both the first servo sliding seat and the second servo sliding seat are fixedly mounted on the rapid advance frame. Using the rapid advance frame, the precision positioning head and the position detection head can quickly approach the external tooth position of the double-tooth joint.
[0013] Furthermore, a purging mechanism is provided on the outer side of the position detection seat. The purging mechanism includes a purging sleeve that fits around the outer side of the position detection seat. The top of the purging sleeve is provided with multiple air outlets, and an air duct is provided inside the purging sleeve. One end of the air duct is connected to the air outlet, and the other end is connected to a purging air pipe. The purging sleeve is used to purge all positions of the double teeth simultaneously, avoiding the influence of adhering substances on the detection accuracy.
[0014] Furthermore, a tooth height detection mechanism is provided on the other side of the position detection seat. The tooth height detection mechanism includes a stand and multiple proximity sensors for detecting different positional dimensions of the double teeth. The proximity sensor for detecting the top dimension of the double teeth is connected to the end of the stand via a lifting cylinder. The bottom of the stand is connected to a third sliding rail. The stand is powered by an electric screw to move closer to or away from the position detection seat.
[0015] To achieve fully automated detection of double-tooth joints, this solution also provides a method for fully automated detection of double-tooth joints in new energy vehicles. Includes the following steps: Step 1: With the larger diameter end facing down, the double tooth to be inspected is transported to the gripping point of the robotic claw via the feeding conveyor belt. Step 2: Control the mechanical gripper to move forward one station, use the mechanical gripper to hold the double tooth to be inspected and move it backward one station, then place the double tooth to be inspected on the hole diameter detection seat, control the pneumatic detector to penetrate into the inner hole of the double tooth from below, read the data of the pneumatic detector, compare the data with whether it exceeds the set threshold range, and determine whether the inner hole diameter is qualified. Step 3: The mechanical gripper once again clamps the double teeth from the aperture detection seat onto the position adjustment seat. The position adjustment seat moves the double teeth to the adjustment component via the first track. The vision sensor on the adjustment component detects the calibration point of the double teeth. The rotary motor on the position adjustment seat drives the double teeth to rotate, so that the calibration point on the double teeth is in the set position, thus completing the coarse positioning of the double teeth. Step 4: The position adjustment seat drives the double tooth to move along the first track, so that the double tooth reaches the flipping mechanism position. While keeping the double tooth from rotating, the flipping robot rotates the double tooth to be inspected vertically by 180° so that the large diameter end of the double tooth faces upward. Then, the double tooth is placed on the position adjustment seat, and the position adjustment seat moves on the first track to move the double tooth to the gripping position. Step 5: Grab the double teeth again with the mechanical claw and move the double teeth to the position detection seat. Then, use the axial positioning pin on the position detection seat to completely penetrate the inner hole of the double teeth and constrain the double teeth in the axial direction. Step 6: Use the proximity sensor of the tooth height detection mechanism to approach each end face of the double tooth, and use the cylinder on the proximity sensor to drive the proximity sensor to contact each end face of the double tooth to complete the height dimension detection of each end face of the double tooth. Step 7: Retract the tooth height detection mechanism and allow the first servo slide to drive the precision positioning head to approach the lower outer tooth of the double tooth. After the coarse positioning in steps 3 and 4, the precision positioning head is inserted between two adjacent teeth on the outer tooth. During the gradual advancement of the precision positioning head, if the precision positioning head is not aligned with the middle position of the two adjacent teeth of the double tooth, the double tooth is slightly pushed to rotate by the force of the precision positioning head moving forward until the precision positioning head abuts against the middle point of the two adjacent teeth. Under the restriction of the precision positioning head, the double tooth no longer rotates, and the precision positioning is completed. Step 8: Allow the second servo slide to drive the position measurement head to gradually approach the upper outer tooth of the double tooth. As the position measurement head moves forward and abuts against the midpoint of the two adjacent teeth, the displacement sensor measures the offset of the position measurement head to complete the detection of the position of the double tooth. Step 9: The mechanical gripper picks up the double teeth on the position detection seat and transfers them to the laser marking seat, driving the laser marking seat to move on the laser printing track, so that the double teeth are directly below the laser printer, and the laser printing is completed; Step 10: Move the laser calibration holder again on the laser printing track, so that the double teeth move to the information scanner to read the printed information; Step 11: Based on the detection results of the aforementioned steps, use a sorting robot to place the double teeth of different grades into the corresponding double tooth feeding troughs to complete the automated detection of double teeth.
[0016] Furthermore, the fully automatic detection method for double-tooth joints in new energy vehicles also includes a step for calibrating the detection accuracy of double-tooth joints. After detecting a preset number of double-tooth joints, a standard double-tooth joint is placed in each detection station. If the detection deviation at a detection station is found to exceed the preset value, the detection station is recalibrated.
[0017] Furthermore, in step seven, the feed force of the precision positioning head is periodically calibrated, and the damping spring behind the first servo slide seat is adjusted so that the precision positioning head does not cause the double teeth to tilt.
[0018] Finally, before step six, the double teeth are purged. A purging mechanism is provided on the outside of the position detection seat to introduce an airflow of 0.5~0.8MPa into the purging air pipe to thoroughly clean the circumference of the two tooth surfaces of the double teeth, so as to avoid foreign objects interfering with the measurement.
[0019] The beneficial effects of this solution are as follows: the inspection stations are concentrated on the workbench, and the inspection of each station is fully automated, using four linked mechanical grippers that can simultaneously transfer from one station to the next; each station can perform inspections without interruption, and no human intervention is required throughout the entire inspection process.
[0020] In addition, during the positional detection of the double teeth, the angle of the double teeth is first adjusted at the coarse positioning station. The vision sensor on the adjustment component is used to detect the calibration point of the double teeth. The double teeth are rotated by a rotary motor so that the calibration point on the double teeth is in the set position, thus completing the coarse positioning of the double teeth. After the initial positioning is completed, the double teeth are rotated 180° so that the large diameter end of the double teeth faces upward.
[0021] Upon entering the position measurement station, the positioning pins constrain the double-tooth joint axially. The precision positioning head fine-tunes the orientation of the double-tooth joint, inserting itself between two adjacent teeth on the outer tooth. As the precision positioning head is gradually advanced, it reaches the root of the middle position between the two adjacent teeth. The forward movement of the precision positioning head causes the double-tooth joint to rotate, achieving precise positioning. During the measurement process, the position measurement head gradually approaches the upper outer tooth of the double-tooth joint. If the offset of the position measurement head exceeds a threshold, it indicates the position of the double-tooth joint, completing the position measurement of the double-tooth joint.
[0022] By correcting the position of the double teeth twice, the detection efficiency and accuracy of the double teeth can be significantly improved.
[0023] After the inspection is completed, the double teeth are laser-printed to add the inspection process information, and the inspection process information is read into the system; finally, the sorting robot puts the double teeth of different grades into the corresponding double teeth unloading troughs to complete the automated inspection of the double teeth. Attached Figure Description
[0024] Figure 1 This is a schematic diagram of the structure of the fully automatic double-tooth detection system according to an embodiment of the present invention.
[0025] Figure 2 This is a structural diagram of the material loading station.
[0026] Figure 3 This is a schematic diagram of the transfer mechanism.
[0027] Figure 4 This is a schematic diagram of the aperture detection station.
[0028] Figure 5 This is a structural diagram of the coarse positioning station.
[0029] Figure 6 This is a structural diagram of the position detection station.
[0030] Figure 7 This is a schematic diagram of the position measurement component in the position measurement station.
[0031] Figure 8 This is a schematic diagram of the position measurement seat in the position measurement station. Detailed Implementation
[0032] The following detailed description illustrates the specific implementation method: Example 1 As attached Figure 1 As shown, a fully automatic detection system for double gears in new energy vehicles includes a workbench 1, on which a feeding station 2, a hole diameter detection station 3, a coarse positioning station 4, and a position accuracy detection station 5 are sequentially assembled from one side to the other.
[0033] The workbench 1 is also equipped with a laser marking mechanism 6. The laser marking mechanism 6 includes a laser marking track located on one side of the position detection seat. A servo-driven marking seat is mounted on the laser marking track. A laser printer is located above one end of the laser marking track to print process information for the double teeth. An information scanner is located at the other end of the laser printing track to collect printing process information on the double teeth.
[0034] The workbench 1 is also equipped with a double-tooth sorting mechanism, which includes an articulated robot 8 installed on the workbench. The articulated robot 8 is connected to a sorting robot arm. Below the sorting robot arm is a multi-channel double-tooth unloading trough 9, which is used to store double teeth of different precision.
[0035] like Figure 2 As shown, the loading station 2 includes a loading conveyor belt 21, and a double-toothed directional anti-misalignment door 22 is mounted on the loading conveyor belt 21.
[0036] like Figure 3 As shown, the workbench 1 is also equipped with a transfer mechanism 7 that sequentially transfers the double-tooth gear from one station to the next. The transfer mechanism 7 includes a lifting frame installed on the workbench, and a truss 72 mounted on the lifting frame along the station sequence direction. The truss 72 is driven to reciprocate by a cylinder. Four mechanical claws 71 are equidistantly installed on the truss 72. The gripping points of the four mechanical claws 71 correspond to the loading station 2, the hole diameter detection station 3, the coarse positioning station 4, and the position detection station 5, respectively. The four mechanical claws 71 are used to simultaneously grip the double-tooth gear A at multiple stations and transfer it to the next station.
[0037] like Figure 4 As shown, the aperture inspection station 3 includes an aperture inspection seat 31. A pneumatic measuring instrument 32 for inspecting the inner diameter of the double-tooth A is located in the center of the aperture inspection seat 31. An adjustable stop 33 for correcting the double-tooth A is also provided on the upper surface of the aperture inspection seat 31 to ensure that the inner diameter of the double-tooth A is aligned with the center hole of the aperture inspection seat 31, facilitating the extension and retraction of the pneumatic measuring instrument 32. The pneumatic measuring instrument 32 is a plug gauge type pneumatic measuring instrument. This instrument uses a cylindrical plug inserted into the inner diameter of the double-tooth A to quickly measure the inner diameter using airflow fluctuations.
[0038] like Figure 5 As shown, the coarse positioning station 4 includes a first track 42, which is equipped with a servo-moving position adjustment seat 41. One end of the first track is provided with an adjustment component 43 for circumferential adjustment of the double tooth A, and the other end of the first track 42 is provided with a flipping robot 44 for flipping the double tooth.
[0039] like Figure 6 , Figure 7 and Figure 8As shown, the position detection station 5 includes a position detection seat 51, with an axial positioning column 512 at its center. A position detection component is installed on one side of the position detection seat 51. The position detection component includes a first servo sliding seat 57 and a second servo sliding seat 58. A precision positioning head 510 is installed on the first servo sliding seat 57. The first servo sliding seat 57 drives the precision positioning head 510 to move closer to the lower outer tooth of the double tooth A. An elastic offset disk 59 is installed on the second servo sliding seat 58. The elastic offset disk 59 includes a lateral deflection block connected by a spring. The position measurement head 511 is installed at the end of the lateral deflection block. A displacement sensor for measuring the deflection of the position measurement head is provided on the elastic offset disk 59. The second servo sliding seat 58 drives the position measurement head 511 to move closer to the upper outer tooth of the double tooth A.
[0040] The position detection component also includes a rapid propulsion frame 56 and a second sliding rail. The rapid propulsion frame 56 is mounted on the second sliding rail and is powered by an electric lead screw. The first servo sliding seat 57 and the second servo sliding seat 58 are both fixedly mounted on the rapid propulsion frame 56.
[0041] The outer diameter of the axial positioning column 512 is 0.02~0.06mm smaller than the inner diameter of the double tooth. The tail end of the first servo slide seat 57 is connected to a damping spring that weakens the feed force of the first servo slide seat. The elastic coefficient of the damping spring is 2-6mm / N.
[0042] The outer diameter of the axial positioning pin 512 is 0.02~0.06mm smaller than the inner diameter of the double tooth, resulting in a maximum linear travel distance of 0.02~0.06mm for the double tooth A. To allow the double tooth to rotate, it must not contact the circumferential positioning pin. Therefore, a damping spring is designed to be added behind the first servo slide seat, with a spring constant of 2-6mm / N. Before testing, the initial potential energy of the damping spring needs to be adjusted to ensure that the force of the precision positioning head is not excessive, preventing the double tooth from jamming and unable to rotate, while maintaining a certain preload on the double tooth to prevent rotation during subsequent position measurement.
[0043] like Figure 6 As shown, a tooth height detection mechanism is provided on the other side of the position detection seat 51. The tooth height detection mechanism includes a stand 54 and multiple proximity sensors 55 for detecting different positional dimensions of the double teeth. The proximity sensor for detecting the top dimension of the double tooth A is connected to the end of the stand through a lifting cylinder. The bottom of the stand 54 is connected to the third sliding rail 52. The stand 54 is powered by an electric screw to move closer to or away from the position detection seat 51.
[0044] like Figure 8As shown, a purging mechanism is provided on the outside of the position detection seat 51. The purging mechanism includes a purging sleeve 513 that is looped around the outside of the position detection seat 51. The top of the purging sleeve 513 is provided with multiple air outlets 515. An air duct 514 is provided inside the purging sleeve 513. One end of the air duct is connected to the air outlet 515, and the other end is connected to a purging air pipe.
[0045] Example 2 This embodiment discloses a fully automated detection method for double-tooth joints in new energy vehicles based on the structure of Embodiment 1, including the following steps: Step 1: With the larger diameter end facing down, the double tooth to be inspected is transported to the gripping point of the robotic claw via the feeding conveyor belt. Step 2: Control the mechanical gripper to move forward one station, use the mechanical gripper to hold the double tooth to be inspected and move it backward one station, then place the double tooth to be inspected on the hole diameter detection seat, control the pneumatic detector to penetrate into the inner hole of the double tooth from below, read the data of the pneumatic detector, compare the data with whether it exceeds the set threshold range, and determine whether the inner hole diameter is qualified. Step 3: The mechanical gripper once again clamps the double teeth from the aperture detection seat onto the position adjustment seat. The position adjustment seat moves the double teeth to the adjustment component via the first track. The vision sensor on the adjustment component detects the calibration point of the double teeth. The rotary motor on the position adjustment seat drives the double teeth to rotate, so that the calibration point on the double teeth is in the set position, thus completing the coarse positioning of the double teeth. Step 4: The position adjustment seat drives the double tooth to move along the first track, so that the double tooth reaches the flipping mechanism position. While keeping the double tooth from rotating, the flipping robot rotates the double tooth to be inspected vertically by 180° so that the large diameter end of the double tooth faces upward. Then, the double tooth is placed on the position adjustment seat, and the position adjustment seat moves on the first track to move the double tooth to the gripping position. Step 5: Grab the double teeth again with the mechanical claw and move the double teeth to the position detection seat. Then, use the axial positioning pin on the position detection seat to completely penetrate the inner hole of the double teeth and constrain the double teeth in the axial direction. Step 6: Use the proximity sensor of the tooth height detection mechanism to approach each end face of the double tooth, and use the cylinder on the proximity sensor to drive the proximity sensor to contact each end face of the double tooth to complete the height dimension detection of each end face of the double tooth. Step 7: Retract the tooth height detection mechanism and allow the first servo slide to drive the precision positioning head to approach the lower outer tooth of the double tooth. After the coarse positioning in steps 3 and 4, the precision positioning head is inserted between two adjacent teeth on the outer tooth. During the gradual advancement of the precision positioning head, if the precision positioning head is not aligned with the middle position of the two adjacent teeth of the double tooth, the double tooth is slightly pushed to rotate by the force of the precision positioning head moving forward until the precision positioning head abuts against the middle point of the two adjacent teeth. Under the restriction of the precision positioning head, the double tooth no longer rotates, and the precision positioning is completed. Step 8: Allow the second servo slide to drive the position measurement head to gradually approach the upper outer tooth of the double tooth. As the position measurement head moves forward and abuts against the midpoint of the two adjacent teeth, the displacement sensor measures the offset of the position measurement head to complete the detection of the position of the double tooth. Step 9: The mechanical gripper picks up the double teeth on the position detection seat and transfers them to the laser marking seat, driving the laser marking seat to move on the laser printing track, so that the double teeth are directly below the laser printer, and the laser printing is completed; Step 10: Move the laser calibration holder again on the laser printing track, so that the double teeth move to the information scanner to read the printed information; Step 11: Based on the detection results of the aforementioned steps, use a sorting robot to place the double teeth of different grades into the corresponding double tooth feeding troughs to complete the automated detection of double teeth.
[0046] Furthermore, the fully automatic detection method for double-tooth joints in new energy vehicles also includes a step for calibrating the detection accuracy of double-tooth joints. After detecting a preset number of double-tooth joints, a standard double-tooth joint is placed in each detection station. If the detection deviation at a detection station is found to exceed the preset value, the detection station is recalibrated.
[0047] Furthermore, in step seven, the feed force of the precision positioning head is periodically calibrated, and the damping spring behind the first servo slide seat is adjusted so that the precision positioning head does not cause the double teeth to tilt.
[0048] Finally, before step six, the double teeth are purged. A purging mechanism is provided on the outside of the position detection seat to introduce an airflow of 0.5~0.8MPa into the purging air pipe to thoroughly clean the circumference of the two tooth surfaces of the double teeth, so as to avoid foreign objects interfering with the measurement.
[0049] The above descriptions are merely embodiments of the present invention, and common knowledge such as specific technical solutions and / or characteristics are not described in detail here. It should be noted that those skilled in the art can make various modifications and improvements without departing from the technical solutions of the present invention, and these should also be considered within the scope of protection of the present invention. These modifications and improvements will not affect the effectiveness of the implementation of the present invention or the practicality of the patent. The scope of protection claimed in this application should be determined by the content of its claims, and the specific embodiments described in the specification can be used to interpret the content of the claims.
Claims
1. A fully automated detection system for dual-tooth transmission in new energy vehicles, characterized in that: The system includes a workbench, on which, from one side to the other, are sequentially mounted a feeding station, a bore diameter detection station, a coarse positioning station, and a position accuracy detection station. The workbench is also equipped with a transfer mechanism for sequentially transferring the double-tooth gear from one station to the next. The bore diameter detection station includes a bore diameter detection seat, with a pneumatic measuring instrument for detecting the inner diameter of the double-tooth gear located in the center of the seat. The coarse positioning station includes a first track, on which a servo-driven position adjustment seat is mounted. One end of the first track has an adjustment component for circumferential adjustment of the double-tooth gear, and the other end has a flipping robot for flipping the double-tooth gear. The position accuracy detection station includes a position accuracy detection... The position measuring seat has an axial positioning column at its center and a position measuring component installed on one side. The position measuring component includes a first servo sliding seat and a second servo sliding seat. A precision positioning head is installed on the first servo sliding seat. The first servo sliding seat drives the precision positioning head to approach one of the outer teeth of the double-toothed gear. An elastic offset disk is installed on the second servo sliding seat. The elastic offset disk includes a lateral deflection block connected by a spring. The position measuring head is installed at the end of the lateral deflection block. A displacement sensor for measuring the deflection of the position measuring head is provided on the elastic offset disk. The second servo sliding seat drives the position measuring head to approach the other outer tooth of the double-toothed gear.
2. The fully automatic detection system for double-toothed new energy vehicles according to claim 1, characterized in that: The workbench is also equipped with a laser marking mechanism, which includes a laser marking track located on one side of the position detection seat. A servo-driven marking seat is mounted on the laser marking track. A laser printer is located above one end of the laser marking track for printing process information on the double teeth. An information scanner is located at the other end of the laser marking track for collecting printing process information on the double teeth.
3. The fully automatic detection system for double-tooth transmission of new energy vehicles according to claim 2, characterized in that: The workbench is also equipped with a double-tooth sorting mechanism, which includes an articulated robot mounted on the workbench. The articulated robot is connected to a sorting manipulator. Below the sorting manipulator is a multi-channel double-tooth unloading trough, which is used to store double teeth of different precision.
4. The fully automatic detection system for double-toothed new energy vehicles according to claim 3, characterized in that: The transfer mechanism includes a lifting frame installed on the workbench, on which a truss is mounted along the sequence of workstations. The truss is driven to reciprocate by a cylinder. Four mechanical claws are equidistantly installed on the truss. The gripping points of the four mechanical claws correspond to the feeding station, the aperture detection station, the coarse positioning station, and the position detection station, respectively. The four mechanical claws are used to simultaneously grip the double teeth at multiple workstations and transfer them to the next workstation.
5. The fully automatic detection system for double-toothed new energy vehicles according to claim 4, characterized in that: In the position detection station, the outer diameter of the axial positioning column is 0.02~0.06mm smaller than the inner diameter of the double tooth. The tail end of the first servo slide is connected to a damping spring that weakens the feed force of the first servo slide. The elastic coefficient of the damping spring is 2-6mm / N.
6. The fully automatic detection system for double-toothed new energy vehicles according to claim 4, characterized in that: The position detection seat is provided with a purging mechanism on the outside. The purging mechanism includes a purging sleeve that is looped around the outside of the position detection seat. The top of the purging sleeve is provided with multiple air outlets. The purging sleeve is provided with an air duct. One end of the air duct is connected to the air outlet, and the other end is connected to a purging air pipe.
7. The fully automatic detection system for double-toothed new energy vehicles according to claim 4, characterized in that: On the other side of the position detection seat, a tooth height detection mechanism is provided. The tooth height detection mechanism includes a stand and multiple proximity sensors for detecting different positional dimensions of the double teeth. The proximity sensor for detecting the top dimension of the double teeth is connected to the end of the stand via a lifting cylinder. The bottom of the stand is connected to a third sliding rail. The stand is powered by an electric screw to move closer to or away from the position detection seat.
8. A fully automated detection method for double-toothed new energy vehicles, applicable to the fully automated detection system for double-toothed new energy vehicles as described in claim 7, characterized in that it includes the following steps: Step 1: With the larger diameter end facing down, the double tooth to be inspected is transported to the gripping point of the robotic claw via the feeding conveyor belt. Step 2: Control the mechanical gripper to move forward one station, use the mechanical gripper to hold the double tooth to be inspected and move it backward one station, then place the double tooth to be inspected on the hole diameter detection seat, control the pneumatic detector to penetrate into the inner hole of the double tooth from below, read the data of the pneumatic detector, compare the data with whether it exceeds the set threshold range, and determine whether the inner hole diameter is qualified. Step 3: The mechanical gripper once again clamps the double teeth from the aperture detection seat onto the position adjustment seat. The position adjustment seat moves the double teeth to the adjustment component via the first track. The vision sensor on the adjustment component detects the calibration point of the double teeth. The rotary motor on the position adjustment seat drives the double teeth to rotate, so that the calibration point on the double teeth is in the set position, thus completing the coarse positioning of the double teeth. Step 4: The position adjustment seat drives the double tooth to move along the first track, so that the double tooth reaches the flipping mechanism position. While keeping the double tooth from rotating, the flipping robot rotates the double tooth to be inspected vertically by 180° so that the large diameter end of the double tooth faces upward. Then, the double tooth is placed on the position adjustment seat, and the position adjustment seat moves on the first track to move the double tooth to the gripping position. Step 5: Grab the double teeth again with the mechanical claw and move the double teeth to the position detection seat. Then, use the axial positioning pin on the position detection seat to completely penetrate the inner hole of the double teeth and constrain the double teeth in the axial direction. Step 6: Use the proximity sensor of the tooth height detection mechanism to approach each end face of the double tooth, and use the cylinder on the proximity sensor to drive the proximity sensor to contact each end face of the double tooth to complete the height dimension detection of each end face of the double tooth. Step 7: Retract the tooth height detection mechanism and allow the first servo slide to drive the precision positioning head to approach the lower outer tooth of the double tooth. After the coarse positioning in steps 3 and 4, the precision positioning head is inserted between two adjacent teeth on the outer tooth. During the gradual advancement of the precision positioning head, if the precision positioning head is not aligned with the middle position of the two adjacent teeth of the double tooth, the double tooth is slightly pushed to rotate by the force of the precision positioning head moving forward until the precision positioning head abuts against the middle point of the two adjacent teeth. Under the restriction of the precision positioning head, the double tooth no longer rotates, and the precision positioning is completed. Step 8: Allow the second servo slide to drive the position measurement head to gradually approach the upper outer tooth of the double tooth. As the position measurement head moves forward and abuts against the midpoint of the two adjacent teeth, the displacement sensor measures the offset of the position measurement head to complete the detection of the position of the double tooth. Step 9: The mechanical gripper picks up the double teeth on the position detection seat and transfers them to the laser marking seat, driving the laser marking seat to move on the laser printing track, so that the double teeth are directly below the laser printer, and the laser printing is completed; Step 10: Move the laser calibration holder again on the laser printing track, so that the double teeth move to the information scanner to read the printed information; Step 11: Based on the detection results of the aforementioned steps, use a sorting robot to place the double teeth of different grades into the corresponding double tooth feeding troughs to complete the automated detection of double teeth.
9. The fully automatic detection method for double-toothed new energy vehicles according to claim 8, characterized in that: It also includes a calibration step for the detection accuracy of double teeth. After detecting a preset number of double teeth, a standard double tooth is placed in each detection station. If the detection deviation at a detection station is found to exceed the preset value, the detection station is recalibrated.
10. The fully automatic detection method for double-toothed new energy vehicles according to claim 9, characterized in that: Step seven also includes periodically correcting the feed force of the precision positioning head and adjusting the damping spring behind the first servo slide seat to prevent the precision positioning head from causing the double teeth to tilt.