High-precision multifunctional composite flexible detection system and method

Abstract

The invention discloses a high-precision multifunctional composite flexible detection system and method, and relates to the field of coordinate detection machines, the high-precision multifunctional composite flexible detection system comprises a multi-axis assembly and a charging tray assembly arranged on a workbench of the detection machine, the multi-axis assembly is installed on an original axis of the detection machine, and the charging tray assembly is installed on the workbench of the detection machine. The multi-shaft assembly comprises an operation shaft with a rotary joint seat, an operation shaft with a contact type detection probe, an operation shaft with a large-range visual detection device and an operation shaft with a clamping jaw, and the rotary joint seat is provided with a quick change mechanism; the quick-change mechanism is provided with other functional parts in a quick-change mode. All configurations can be applied under the two-axis condition and the three-axis condition through the operation shaft carrying the quick-change mechanism, and high-flexibility expansion is easy to achieve.

Description

Technical Field

[0001] This invention relates to the field of coordinate measuring machines, specifically to a high-precision, multi-functional composite flexible measuring system and method. Background Technology

[0002] Current coordinate measuring machines (CMMs) generally have relatively limited functions, only capable of performing inspection tasks. Furthermore, due to limitations in accuracy, structural functionality (such as beam load-bearing capacity, transmission system precision, and control system computing power), and cost control, existing CMMs typically have no more than two axes supported by their sensors. Moreover, the function of each axis is limited to "superimposing inspection methods," lacking multi-axis collaborative operation capabilities. This insufficient number of axes leads to low efficiency in multi-feature inspection: for example, inspecting a feature that simultaneously includes "shaft diameter," "end face flatness," and "surface scratches." When dealing with complex workpieces, it is necessary to frequently switch between "contact probes" and "vision sensors" on a single axis, or manually adjust the workpiece posture to adapt to different inspection requirements. This is not only time-consuming (the switching time for a single workpiece is usually 3-5 minutes), but also prone to introducing positioning errors due to sensor switching / workpiece movement, failing to meet the high-precision inspection requirements of precision parts. Furthermore, there is no collaborative logic between axes: existing multi-axis (if present) systems are mostly "independent inspection channels," for example, the first axis is responsible for length measurement and the second axis for diameter measurement. The data from the two axes are only output independently, failing to achieve closed-loop collaboration of "inspection-positioning-correction" (such as using the positional deviation detected by one axis to guide the real-time adjustment of the inspection point on the other axis), further limiting inspection accuracy and adaptability. To achieve batch inspection of parts, additional configuration of material storage, fixtures, loading and unloading robots, or circulating workpiece mechanisms is often required. Summary of the Invention

[0003] The purpose of this invention is to overcome the shortcomings of the prior art and provide a high-precision, multi-functional composite flexible detection system and method to address the deficiencies of the prior art.

[0004] The objective of this invention is achieved through the following technical solution: a high-precision, multi-functional composite flexible inspection system, comprising a multi-axis assembly and a tray assembly configured on the worktable of an inspection machine. The multi-axis assembly is mounted on the original axis of the inspection machine. The multi-axis assembly includes a working axis carrying a rotary joint seat, a working axis carrying a contact detection probe, a working axis carrying a wide-range visual inspection device, and a working axis carrying a gripper. A quick-change mechanism is installed on the rotary joint seat, and the quick-change mechanism configures other functional components through quick-change.

[0005] Furthermore, the quick-change mechanism includes a quick-change base, a quick-change seat, and a quick-change frame. The quick-change base is mounted on a rotary joint seat, and the quick-change frame is mounted on the worktable of the inspection machine. The quick-change frame has multiple tooling slots for placing functional components. The functional components include a rotary gripper with a quick-change seat, a small-range visual inspection device with a quick-change seat, a large-range visual inspection device with a quick-change seat, and a gripper mechanism with a quick-change seat. The quick-change seat cooperates with the quick-change base.

[0006] Furthermore, the gripper mechanism includes a rotary gripper, a rotary joint, a pitch seat, and a rotary seat. The quick-change seat is mounted on the rotary joint, the pitch seat is rotatably mounted on the rotary joint, the rotation axis of the pitch seat is horizontally set, the rotary seat is rotatably mounted on the pitch seat, and the rotary gripper is mounted on the rotary seat.

[0007] Furthermore, the material tray assembly includes an incoming material tray and an outgoing material tray. A workpiece fixture is provided on the worktable of the inspection machine. Workpieces are loaded onto the workpiece fixture. The workpieces on the workpiece fixture are subjected to quality inspection by the inspection machine. The top of the incoming material tray is provided with several positioning grooves for accommodating workpieces along its own length direction. The structure of the outgoing material tray is the same as that of the incoming material tray. The workpiece fixture includes two support columns spaced apart. The top of the support columns is provided with support grooves.

[0008] Furthermore, it also includes a fixed probe, which is mounted on the worktable of the testing machine.

[0009] A high-precision, multi-functional composite flexible testing method, utilizing the aforementioned high-precision, multi-functional composite flexible testing system, includes the following steps: S1. Complete the workpiece type matching through a large-scale visual inspection device and retrieve the corresponding inspection program; S2, Positioning Correction; The position coordinates of the workpiece are obtained through a contact detection probe, and the clamping coordinates of the gripper are planned based on the workpiece position coordinates; S3. The grippers clamp the workpiece and place it at the inspection station according to the clamping coordinates. S4. By combining a small-range visual inspection device with a large-range visual inspection device, the detailed features of the workpiece are matched and defects are detected. S5. Based on the test results, place the workpiece at the designated unloading position, and then repeat the above steps to complete the batch testing of the workpiece.

[0010] Furthermore, in step S2, low-precision association is adopted. Using a uniform feature of the workpiece, the contact detection probe is aligned with this feature visually, and the gripper is also aligned with this feature. Association is completed by combining the gripper's feature dimensions. The contact detection probe is a contact sensor stylus. Taking a shaft-type workpiece as an example, its uniform feature is the generatrix of the shaft-type workpiece. Its coordinate measurement steps are as follows: S21. When the probe of the contact detection probe is moved to the workpiece generatrix by the hand-held device, the coordinates of the probe center of the contact detection probe are obtained as (X1, Y1, Z1). S22. The coordinates of the probe ball center projected downwards to the height of the generatrix are: (X1, Y1, Z1 - R probe radius); S23. The coordinates of the probe ball center projection onto the axis of the workpiece to be measured are: (X1, Y1, Z1 - R probe radius - R axis radius). S24. Align the gripper with the workpiece generatrix using a handheld device to obtain the gripper tip coordinates as (X2, Y2, Z1). S25. Let the distance from the center of the gripper to the end face be △Z, then the coordinates of the gripper center are (X2, Y2, Z1 + △Z). S26. Based on the coordinate system, the relationship between the contact detection probe and the gripper is as follows: the distance between the two axes in the X direction = X2 - X1, the distance between the two axes in the Y direction = Y2 - Y1, and the distance between the two axes in the Z direction = Z1 + ΔZ. S27. For any (X, Y, Z) coordinates obtained by probing the probe, the center coordinates of the gripper should be determined by the following calculations: X gripper = X - (X2 - X1), Y gripper = Y - (Y2 - Y1), Z gripper = Z - (Z1 - △Z).

[0011] Furthermore, in step S2, high-precision correlation calibration is adopted. The coordinates of the fixed probe on the worktable are confirmed by using a contact detection probe. Then, the fixed probe on the worktable is used to detect other correlated operating mechanisms. Finally, the difference is calculated to complete the correlation. The specific steps are as follows: S21. Based on the initial coordinate system of the equipment, use a contact detection probe to collect points on the probe and ball of the fixed probe on the workbench, and confirm the coordinates of the ball center by using at least 4 points. S22. The coordinate system of the gripper is determined by the fixed probe fixed to the worktable in the manner of "surface" + "line" + "point". The coordinates of the gripper center are determined by recursion through the physical dimensions of the gripper. S23. Move the large-area visual inspection device above the fixed probe. Confirm the coordinates of the center of the ball (X1, Y1) on the XY plane by picking up three points on the edge of the probe ball. Then, move the device a certain distance along the X-axis and pick up three points on the edge of the ball to confirm the coordinates of the center of the ball (X2, Y2) on the XY plane. Then, α is the installation deflection angle of the large-area visual inspection device on the XY plane. Introduce the relevant parameters into the subsequent coordinate transformation calculation.

[0012] Furthermore, in step S1, it is necessary to position the material tray assembly and establish a coordinate system. The coordinate system is created using the standard "surface (P1P2P3)" + "line (P4P5)" + "point (P6)" method of the testing machine, so as to position the material tray assembly in the measuring machine space.

[0013] Furthermore, when calibrating the position using a large-scale visual inspection device, the origin of the XY plane is confirmed using a "line" + "point" method, and the Z-axis height is calculated as Z current coordinate - Z focal length - △Z focus fine adjustment, ultimately confirming the workpiece coordinate system.

[0014] The beneficial effects of this invention are: 1. The working axis with a quick-change mechanism can be used in both two-axis and three-axis configurations, adapting to universal trays and fixtures of various workpiece types to achieve flexible automated inspection, enabling workpiece destacking, inspection, palletizing, and special operations on workpieces or fixtures. Furthermore, due to various external supporting hardware, tray assemblies, grippers, etc., are all incorporated into the inspection machine's coordinate system and operating mode, making it easy to achieve highly flexible expansion.

[0015] 2. The multiple working axes adopt a separate design, which effectively avoids the impact of off-center load on the precision axis, ensuring high-precision detection, and can effectively release the working load and working space to avoid interference.

[0016] 3. Through the innovative design of "multi-axis collaborative architecture + integrated functional modules + high-precision calibration method + closed-loop detection process", the core pain points of existing coordinate measuring machines, such as "single function, insufficient accuracy, difficulty in batch adaptation and poor flexibility", are accurately solved, and significant breakthroughs are achieved in the dimensions of detection efficiency, accuracy and reliability, cost control and scenario adaptability.

[0017] 4. Through the integrated design of grippers, tray components, and workpiece fixtures, the entire process of "workpiece positioning - loading and unloading - multi-dimensional inspection - sorting of qualified / defective products" is realized in one integrated system, eliminating the need for additional auxiliary equipment such as material storage, loading and unloading robots, and circulating workpiece mechanisms. Compared with existing inspection systems, this reduces initial equipment investment costs and avoids communication compatibility issues between auxiliary equipment and the inspection machine, thus reducing system complexity. Attached Figure Description

[0018] Figure 1This is a schematic diagram of the quick-change mechanism in a high-precision, multi-functional composite flexible detection system of the present invention. Figure 2 This is a schematic diagram of the structure of Embodiment 3 of a high-precision multifunctional composite flexible detection system of the present invention; Figure 3 This is a schematic diagram of the gripper mechanism in a high-precision, multi-functional composite flexible detection system of the present invention. Figure 4 This is a detection status diagram of a high-precision, multi-functional composite flexible detection system according to the present invention; Figure 5 This is a schematic diagram of the gripper coordinate positioning in a high-precision, multi-functional composite flexible detection method of the present invention; Figure 6 This is a schematic diagram of the structure of Embodiment Six of the High-Precision Multifunctional Composite Flexible Detection Method of the present invention; Figure 7 This is a schematic diagram of coordinate positioning in Embodiment Six of the High-Precision Multifunctional Composite Flexible Detection Method of the present invention; Figure 8 This is a schematic diagram of gripper coordinate positioning in Embodiment Six of the High-Precision Multifunctional Composite Flexible Detection Method of the present invention; Figure 9 This is a schematic diagram of the positioning of the fixed probe in Embodiment Six of the high-precision multifunctional composite flexible detection method of the present invention; Figure 10 This is a schematic diagram of the coordinate positioning of the material tray in the high-precision multifunctional composite flexible detection method of the present invention; Figure 11 This is a schematic diagram of the coordinate positioning of the workpiece in a high-precision, multi-functional composite flexible detection method of the present invention; In the diagram, 1-fixed probe, 2-small-range visual inspection device, 3-contact inspection probe, 4-large-range visual inspection device, 5-gripper, 6-quick-change frame, 7-quick-change base, 8-quick-change seat, 9-rotary gripper, 10-rotary joint, 11-tilt seat, 12-rotary joint seat, 13-incoming pallet, 14-outgoing pallet, 15-positioning groove, 16-support column, 17-support groove, 18-rotary seat. Detailed Implementation

[0019] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings, but the scope of protection of the present invention is not limited to the following description.

[0020] Example 1 like Figures 1 to 11As shown, a high-precision, multi-functional composite flexible inspection system includes a multi-axis assembly and a material tray assembly configured on the worktable of the inspection machine. The multi-axis assembly is mounted on the original axis of the inspection machine. The multi-axis assembly includes a working axis carrying a rotary joint seat 12, a working axis carrying a contact detection probe 3, a working axis carrying a large-range visual inspection device 4, and a working axis carrying a gripper 5. A quick-change mechanism is installed on the rotary joint seat 12, and the quick-change mechanism configures other functional components through quick-change. Compared to traditional single-axis or dual-axis inspection machines, this invention is configured as a four-axis inspection machine. Generally, the working axis carrying the contact-type inspection probe 3, the working axis carrying the large-area vision inspection device 4, and the working axis carrying the gripper 5 work together to achieve workpiece loading, inspection, and unloading operations. When a three-axis inspection machine cannot meet the workpiece inspection requirements, other functional components can be configured on the inspection machine via the working axis carrying the quick-change mechanism to meet the inspection needs. Specifically, the quick-change mechanism includes a quick-change base 7, a quick-change seat 8, and a quick-change frame 6. The quick-change base 7 is mounted on a rotary joint seat 12, and the quick-change frame 6 is mounted on the worktable of the inspection machine. The quick-change frame 6 has multiple tooling slots for placing functional components, including but not limited to a rotary gripper with a quick-change seat 8, a small-area vision inspection device 2 with a quick-change seat 8, a large-area vision inspection device 4 with a quick-change seat 8, and a gripper with a quick-change seat 8. The mechanism, with quick-change seat 8 cooperating with quick-change base 7, allows for the installation of rotary grippers via quick-change when the workpiece needs to be rotated to inspect its coverage area. The rotary joint seat 12's rotation function is used to change the workpiece's position, enabling inspection of different areas. For precision inspection, a small-range inspection device 2 is installed on the rotary joint seat 12 via quick-change. This device magnifies and images the corresponding position of the workpiece, achieving precision inspection. The rotary joint seat 12 also allows for adjustment of the inspection position. Similarly, when large-range imaging is required and the workpiece's size exceeds the inspection range of the large-range vision inspection device 4, the large-range vision inspection device 4 is installed on the rotary joint seat 12 via quick-change. The rotation function of the rotary joint seat 12 allows the workpiece to gradually fall within the range of the large-range vision inspection device 4. Thus, the working axis carrying the quick-change mechanism can be used in both two-axis and three-axis configurations.The specific quick-change process is as follows: the quick-change seat 8 carrying the functional component is placed in the tooling slot of the quick-change frame 6. When a quick change is required, the original shaft drives the functional component on it to move into the empty tooling slot, so that the functional component is stored. Then the quick-change mechanism unlocks, the Z-axis lifts up and disengages from the functional component, and then the working axis moves above the required functional component to align with it. Then the Z-axis descends, locking the quick-change seat 8 of the functional component with the quick-change base 7 on the working axis. Then the Z-axis moves up, carrying the functional component out of the storage position, thereby realizing the automatic switching of functional components. Different functional components can be configured according to actual testing needs, and collaborative operation can be achieved through switching.

[0021] Example 2 Based on Example 1, such as Figures 1 to 3 As shown, the gripper mechanism includes a rotary gripper 9, a rotary joint 10, a pitch seat 11, and a rotary seat 18. The quick-change seat 8 is mounted on the rotary joint 10, and the pitch seat 11 is rotatably mounted on the rotary joint 10. The rotation axis of the pitch seat 11 is horizontally set. The rotary seat 18 is rotatably mounted on the pitch seat 11, and the rotary gripper 9 is mounted on the rotary seat 18, giving the rotary gripper 9 rotational and pitch degrees of freedom. When it is necessary to rotate the workpiece to change the detection position, the gripper mechanism is installed through the quick-change mechanism, and the workpiece is clamped by the rotary gripper 9. By rotating the rotary seat 18, the rotary gripper 9 can clamp the workpiece and rotate it, moving the obstructed area of ​​the workpiece into the intelligent vision inspection device, thereby realizing comprehensive quality inspection of the workpiece. Specifically, the following operations can be achieved: for a single workpiece, it can perform operations such as clamping, transporting, and position conversion; for batch workpiece operations, it can cooperate with the material tray on the worktable to achieve operations such as destacking before inspection, moving workpiece positions, clamping operations, and stacking after inspection; for workpiece position adjustment, it can achieve multi-division visual inspection by rotating shaft-type parts at the inspection position, or flipping the workpiece to achieve complete measurement; for special workpiece operations, when encountering problems such as large, heavy, long, or irregularly shaped workpieces that cannot be operated by a single automatic gripper, the workpiece can be transported through the cooperation of gripper 5 and rotary gripper 9.

[0022] Example 3 Based on Example 2, such as Figures 1 to 3As shown, the material tray assembly includes an incoming material tray 13 and an outgoing material tray 14. A workpiece fixture is installed on the worktable of the inspection machine. Workpieces are loaded onto the workpiece fixture, and the workpieces on the fixture undergo quality inspection by the inspection machine. Traditional inspection machines, to achieve automatic continuous inspection of batch parts, generally require external PLC controllers, material storage, loading / unloading mechanisms, fixtures, etc. Furthermore, due to the involvement of various software and hardware components, they are generally limited to the initially designed product and cannot be flexibly expanded. This invention adds a number of working axes, a material tray, and a workpiece fixture. The inspection mechanism identifies the workpiece specifications, then the grippers load the workpiece 5 onto the workpiece fixture, and then the quality of the workpiece is inspected. Finally, the grippers unload the inspected workpiece onto the outgoing material tray 14 based on the inspection results, thereby achieving flexible automated inspection and realizing operations such as workpiece destacking, inspection, and stacking. Moreover, because of the various external supporting hardware components, the material tray assembly, grippers, etc., are all incorporated into the inspection machine's coordinate system and operating mode, making it easy to achieve highly flexible expansion. In practice, the flexible inspection system can be implemented on various coordinate measuring machines, such as three-coordinate measuring machines, optical two-coordinate measuring machines, composite coordinate measuring machines, and cantilever coordinate measuring machines.

[0023] Example 3 Based on Example 2, such as Figures 1 to 3 As shown, it also includes a fixed probe 1, which is mounted on the worktable of the inspection machine. The top of the incoming material tray 13 has several positioning slots 15 along its length to accommodate workpieces. The structure of the unloading tray 14 is the same as that of the incoming material tray 13. The workpiece clamp includes two spaced support columns 16, with support slots 17 on the top of the support columns 16. The workpiece to be inspected is placed in the positioning slots 15 of the incoming material tray 13, and the workpiece is loaded into the support slots 17 of the support columns 16 by the grippers 5. Then, the workpiece is inspected by the cooperation of the large-area vision inspection device 4 and the small-area vision inspection device 2. Finally, the workpiece is unloaded onto the unloading tray 14 by the grippers 5. This cycle is repeated to achieve automatic batch inspection of parts without relying on other equipment. In specific implementation, the grippers 5 can be replaced by a quick-change mechanism, or the grippers can be manually replaced according to the workpiece, thus adapting the grippers to the workpiece. In specific implementation, the fixed probe 1 and the contact detection probe 3 use contact sensors or non-contact laser sensors.

[0024] Example 4 Based on Example 3, such as Figures 1 to 11 As shown, a high-precision, multi-functional composite flexible detection method, utilizing the aforementioned high-precision, multi-functional composite flexible detection system, includes the following steps: S1. The workpiece type is matched by the large-area vision inspection device 4, and the corresponding inspection program is retrieved. S2, Positioning Correction; The position coordinates of the workpiece are obtained through the contact detection probe 3, and the clamping coordinates of the gripper 5 are planned according to the position coordinates of the workpiece; S3, gripper 5 clamps the workpiece and places it at the inspection station according to the clamping coordinates; S4. By combining the small-range visual inspection device 2 and the large-range visual inspection device 4, the detailed features of the workpiece are matched and defects are detected. S5. Based on the test results, place the workpiece at the designated unloading position, and then repeat the above steps to complete the batch testing of the workpiece.

[0025] Example 5 Based on Example 4, such as Figures 4 to 10 As shown, to achieve multi-axis collaboration, the position and orientation of the sensors or grippers of each axis need to be calibrated and associated. There are three association methods: low-precision association; manual visual calibration combined with the coordinate parameters of the inspection machine; high-precision association; association using fixed probes 1 or standard parts arranged on the worktable; hybrid association; and a situation where both low-precision and high-precision associations exist. The specific association methods are as follows: In step S2, low-precision association is used. Through a unified feature of the workpiece, the contact detection probe 3 is aligned with this feature visually, and the gripper is also aligned with this feature. Association is completed by combining the gripper's feature dimensions. The contact detection probe 3 is a contact sensor stylus. Taking a shaft-type workpiece as an example, its unified feature is the generatrix of the shaft-type workpiece. The coordinate measurement steps are as follows: S21. When the probe of the contact detection probe 3 is moved to the workpiece generatrix by the hand-held device, the coordinates of the probe center of the contact detection probe 3 are obtained as follows: (X1, Y1, Z1). S22. The coordinates of the probe ball center projected downwards to the height of the generatrix are: (X1, Y1, Z1 - R probe radius); S23. The coordinates of the probe ball center projection onto the axis of the workpiece to be measured are: (X1, Y1, Z1 - R probe radius - R axis radius). S24. Align the gripper 5 with the workpiece generatrix using the hand-operated device to obtain the coordinates of the tip of the gripper 5 as (X2, Y2, Z1). S25. Let the distance from the center of gripper 5 to the end face be △Z, then the coordinates of the center of gripper 5 are (X2, Y2, Z1 + △Z). S26. Based on the coordinate system, the relationship between the contact detection probe 3 and the gripper is as follows: the distance between the two axes in the X direction = X2 - X1, the distance between the two axes in the Y direction = Y2 - Y1, and the distance between the two axes in the Z direction = Z1 + ΔZ. S27. For any (X, Y, Z) coordinates obtained by probing the probe, the center coordinates of the gripper should be determined by the following calculations: X gripper = X - (X2 - X1), Y gripper = Y - (Y2 - Y1), Z gripper = Z - (Z1 - △Z).

[0026] In step S2, high-precision correlation calibration is adopted. The coordinates of the fixed probe 1 on the worktable are confirmed by the contact detection probe 3. Then, the fixed probe 1 on the worktable is used to detect other correlated working mechanisms. Finally, the difference is calculated to complete the correlation. The specific steps are as follows: S21. Based on the initial coordinate system of the equipment, the probe 3 of the contact detection probe 3 is used to collect points on the probe ball of the fixed probe 1 on the workbench, and the coordinates of the ball center are confirmed in a way of at least 4 points. S22. The coordinate system of the gripper 5 is determined by the fixed probe 1 fixed to the workbench in the manner of "surface" + "line" + "point". The coordinates of the gripper center are determined by recursion through the physical dimensions of the gripper 5. S23. Move the large-area visual inspection device 4 above the fixed probe 1. Confirm the coordinates of the center of the ball (X1, Y1) on the XY plane by picking up three points on the edge of the probe ball. Then, move the device a distance along the X-axis and pick up three points on the edge of the ball to confirm the coordinates of the center of the ball (X2, Y2) on the XY plane. Then, α is the installation angle of the large-area visual inspection device 4 on the XY plane. Introduce the relevant parameters into the subsequent coordinate transformation calculation.

[0027] Example 6 Based on Example 5, such as Figure 9 and Figure 10 As shown, in step S1, a coordinate system needs to be established for positioning the material tray assembly. This coordinate system is created using the standard "surface (P1P2P3)" + "line (P4P5)" + "point (P6)" method of the measuring machine. This positions the material tray assembly within the measuring machine space. After the incoming material tray 13 is positioned, the positions of each positioning slot 15 and the workpiece are determined, meeting the requirements for the gripper 5 to hold the workpiece. Similarly, the coordinate system for the gripper 5 and the unloading tray can be created.

[0028] Example 7 Since the Z-axis coordinate of the camera in visual inspection system 2 is generally determined by adding the theoretical focal length to the autofocus deviation, the accuracy is relatively low. Therefore, based on embodiment six, as follows... Figure 9 and Figure 10As shown, when calibrating the position using the large-area visual inspection device 4, the origin of the XY plane is confirmed using a "line" + "point" method. The Z-axis height = Z current coordinate - Z focal length - △Z focus fine adjustment. Finally, the workpiece coordinate system is confirmed, making the detection Z-axis coordinate value more accurate. This enables workpiece specification matching → clamping position adjustment → inspection program retrieval → material handling → fixture placement → automatic inspection → material handling → unloading. Workpiece pre-screening is performed to determine parts with defects, abnormal shapes, or assembly abnormalities, thus avoiding abnormal collisions of the equipment.

Claims

1. A high-precision, multi-functional composite flexible detection system, characterized in that, The multi-axis assembly includes a multi-axis assembly and a tray assembly configured on the worktable of the inspection machine. The multi-axis assembly is mounted on the original axis of the inspection machine. The multi-axis assembly includes a working axis carrying a rotary joint seat (12), a working axis carrying a contact detection probe (3), a working axis carrying a wide-range visual inspection device (4), and a working axis carrying a gripper (5). A quick-change mechanism is installed on the rotary joint seat (12), and the quick-change mechanism is configured with other functional components in a quick-change manner.

2. The high-precision multifunctional composite flexible detection system according to claim 1, characterized in that, The quick-change mechanism includes a quick-change base (7), a quick-change seat (8), and a quick-change frame (6). The quick-change base (7) is mounted on a rotary joint seat (12), and the quick-change frame (6) is mounted on the workbench of the inspection machine. The quick-change frame (6) has multiple tooling slots for placing functional components. The functional components include a rotary gripper with a quick-change seat (8), a small-range visual inspection device (2) with a quick-change seat (8), a large-range visual inspection device (4) with a quick-change seat (8), and a gripper mechanism with a quick-change seat (8). The quick-change seat (8) is fitted to the quick-change base (7).

3. The high-precision multifunctional composite flexible detection system according to claim 2, characterized in that, The gripper mechanism includes a rotary gripper (9), a rotary joint (10), a pitch seat (11), and a rotary seat (18). The quick-change seat (8) is mounted on the rotary joint (10), the pitch seat (11) is rotatably mounted on the rotary joint (10), the rotation axis of the pitch seat (11) is horizontally set, the rotary seat (18) is rotatably mounted on the pitch seat (11), and the rotary gripper (9) is mounted on the rotary seat (18).

4. The high-precision multifunctional composite flexible detection system according to claim 3, characterized in that, The material tray assembly includes an incoming material tray (13) and an unloading tray (14). A workpiece fixture is provided on the workbench of the inspection machine. Workpieces are loaded onto the workpiece fixture. The workpieces on the workpiece fixture are subjected to quality inspection by the inspection machine. The top of the incoming material tray (13) is provided with several positioning grooves (15) for accommodating workpieces along its own length direction. The structure of the unloading tray (14) is the same as that of the incoming material tray (13). The workpiece fixture includes two support columns (16) spaced apart. The top of the support column (16) is provided with a support groove (17).

5. The high-precision multifunctional composite flexible detection system according to claim 2, characterized in that, It also includes a fixed probe (1), which is installed on the worktable of the testing machine.

6. A high-precision, multi-functional composite flexible detection method, utilizing the high-precision, multi-functional composite flexible detection system as described in claim 5, characterized in that, Includes the following steps: S1. Complete the workpiece type matching through the large-area visual inspection device (4) and retrieve the corresponding inspection program; S2, Positioning Correction; The position coordinates of the workpiece are obtained through the contact detection probe (3), and the clamping coordinates of the gripper (5) are planned according to the position coordinates of the workpiece; S3, gripper (5) clamps the workpiece and places it on the inspection station according to the clamping coordinates; S4. By combining the small-range visual inspection device (2) with the large-range visual inspection device (4), the workpiece detail features are matched and defects are detected. S5. Based on the test results, place the workpiece at the designated unloading position, and then repeat the above steps to complete the batch testing of the workpiece.

7. The high-precision multifunctional composite flexible detection method according to claim 6, characterized in that, In step S2, low-precision association is adopted. Through a certain unified feature of the workpiece, the contact detection probe (3) is aligned with the feature in a visual alignment manner, and the gripper (5) is aligned with the feature. The association is completed by combining the feature size of the gripper. The contact detection probe (3) is a contact sensor probe. Taking a shaft workpiece as an example, its unified feature is the generatrix of the shaft workpiece. Its coordinate measurement steps are as follows: S21. When the probe of the contact detection probe (3) is moved to the workpiece generatrix by the hand-held device, the coordinates of the probe center of the contact detection probe (3) are obtained as follows: (X1, Y1, Z1). S22. The coordinates of the probe ball center projected downwards to the height of the generatrix are: (X1, Y1, Z1 - R probe radius); S23. The coordinates of the probe ball center projection onto the axis of the workpiece to be measured are: (X1, Y1, Z1 - R probe radius - R axis radius). S24. Align the gripper (5) with the workpiece generatrix using a handheld device to obtain the coordinates of the gripper (5) tip as (X2, Y2, Z1). S25. Let the distance from the center of the gripper (5) to the end face be △Z, then the coordinates of the center of the gripper (5) are (X2, Y2, Z1+△Z). S26. Based on the coordinate system, the relationship between the contact detection probe (3) and the gripper is as follows: the distance between the two axes in the X direction = X2-X1, the distance between the two axes in the Y direction = Y2-Y1, and the distance between the two axes in the Z direction = Z1+△Z. S27. For any (X, Y, Z) coordinates obtained by probing the probe, the center coordinates of the gripper should be determined by the following calculations: X gripper = X - (X2 - X1), Y gripper = Y - (Y2 - Y1), Z gripper = Z - (Z1 - △Z).

8. The high-precision multifunctional composite flexible detection method according to claim 6, characterized in that, In step S2, high-precision correlation calibration is adopted. The coordinates of the fixed probe (1) on the workbench are confirmed by using a contact detection probe (3). Then, the fixed probe (1) on the workbench is used to detect other correlated operating mechanisms. Finally, the difference is calculated to complete the correlation. The specific steps are as follows: S21. Based on the initial coordinate system of the equipment, the probe and ball of the fixed probe (1) on the workbench are sampled by the contact detection probe (3) to confirm the center coordinates of the ball in a way of at least 4 points. S22. The coordinate system of the gripper (5) is confirmed by the fixed probe (1) fixed to the workbench in the manner of "surface" + "line" + "point". The coordinates of the gripper center are confirmed by recursion through the physical dimensions of the gripper (5). S23. Move the large-area visual inspection device (4) above the fixed probe (1), and confirm the coordinates of the center of the ball (X1, Y1) on the XY plane by picking up three points on the edge of the probe ball. Then, move the device X-axis a distance, and pick up three points on the edge of the ball to confirm the coordinates of the center of the ball (X2, Y2) on the XY plane. Then α is the installation angle of the large-area visual inspection device (4) on the XY plane. Introduce the relevant parameters into the subsequent coordinate transformation calculation.

9. The high-precision, multi-functional composite flexible detection method according to claim 6, characterized in that, In step S1, it is necessary to position the material tray assembly and establish a coordinate system. The coordinate system is created using the standard "surface (P1P2P3)" + "line (P4P5)" + "point (P6)" method of the testing machine, so as to position the material tray assembly in the measuring machine space.

10. The high-precision multifunctional composite flexible detection method according to claim 9, characterized in that, When calibrating the position using a large-scale visual inspection device (4), the origin of the XY plane is confirmed using a "line" + "point" method. The height in the Z direction is equal to the current Z coordinate - the Z focal length - the △Z focus fine adjustment, and finally the workpiece coordinate system is confirmed.

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