An aviation oil pump installation and inspection integrated device

Abstract

An aviation oil pump assembly and inspection integrated device adopts track management, completes the pre-assembly and inspection detection through the track tray and visual identification, avoids the interruption of the automatic process caused by missing parts and wrong parts, adopts a secondary positioning system to cooperate with a robot grabbing system to complete the conversion of parts from the track tray to a high-precision tray, the high-precision tray is designed by profiling and is provided with positioning blocks, each positioning block is guaranteed not to displace during part measurement through a spring pin, the secondary positioning system identifies the part placement angle and pose deviation through visual acquisition and feeds back to the robot grabbing system for automatic adjustment to ensure that the part angular pose is correct, a high-precision contact displacement sensor is adopted to cooperate with a truss mechanism to complete the height dimension measurement of the pump shell and pump assembly, a robot grabbing system is adopted to cooperate with an assembly stacking automatic lifting base to complete the automatic stacking assembly of the pump assembly, and the robot grabbing system completes efficient and accurate part grabbing through visual identification and cooperation with a multi-claw mechanism.

Description

Technical Field

[0001] This invention belongs to the field of aero-engine component assembly technology, and in particular relates to an integrated assembly and inspection device for aero-engine lubricating oil pumps. Background Technology

[0002] As one of the main components of an aircraft engine, the lubricating oil pump directly determines the engine's performance indicators. In the current technology, the assembly of aircraft lubricating oil pumps is generally done manually by operators. Due to the varying skill levels of operators, there are significant differences between the assembled components, making it impossible to guarantee the consistency of measurements.

[0003] In addition, because aviation oil pumps have many heavy parts, the manual assembly process is complicated and the assembly sequence is prone to errors. It requires the operator to maintain a high level of concentration, and there are also problems of high labor intensity and low assembly efficiency.

[0004] Meanwhile, the measurement of all parts of the aviation oil pump before assembly, as well as the measurement of the component height after assembly, was mainly carried out manually by the operator using measuring tools, and the measurement results were mostly recorded by hand. Due to the large number of dimensions to be measured, the measurement and recording process was very time-consuming.

[0005] Therefore, the assembly and inspection process of aviation lubricating oil pumps in existing technologies has become a bottleneck process and a major link that causes waste of resources and manpower. Summary of the Invention

[0006] To address the problems of existing technologies, this invention provides an integrated assembly and inspection device for aviation lubricating oil pumps. It employs tracked management, using a tracked pallet in conjunction with visual recognition to complete pre-assembly assembly and inspection, avoiding interruptions to the automated process due to missing or incorrect parts. A secondary positioning system, in conjunction with a robotic gripping system, converts parts from the tracked pallet to a high-precision pallet. The high-precision pallet features a contour-following design and positioning blocks, each with spring pins to ensure no displacement of parts during measurement. Before assembly, it meets the micron-level accuracy requirements for coordinate measuring machines (CMMs) of each part, automated assembly, and post-assembly component height measurement. The secondary positioning system uses visual acquisition to identify the placement angle and pose deviation of parts, feeding this information back to the robotic gripping system for automatic adjustment, ensuring correct angular pose of parts and meeting automated assembly requirements. A high-precision contact displacement sensor, in conjunction with a truss mechanism, measures the height of the pump casing and pump components. The robotic gripping system, in conjunction with an automatic stacking and lifting base, automatically stacks and assembles the pump components. The robotic gripping system, using visual recognition and a multi-gripper mechanism, efficiently and accurately grips different models, types, sizes, and shapes of parts.

[0007] To achieve the above objectives, the present invention adopts the following technical solution: an integrated assembly and inspection device for aviation lubricating oil pumps, comprising a track tray positioning system, a secondary positioning system, a pump casing and pump assembly height measurement system, a coordinate measuring machine (CMM) system, and a robot gripping system; the track tray positioning system, the secondary positioning system, the pump casing and pump assembly height measurement system, and the CMM system are distributed around the robot gripping system; the track tray positioning system, the secondary positioning system, the pump casing and pump assembly height measurement system, and the CMM system are all within the gripping coverage area of ​​the robot gripping system; the track tray positioning system is used to store all parts of the aviation lubricating oil pump before assembly; the secondary positioning system is used to perform high-precision secondary positioning of all parts of the aviation lubricating oil pump before assembly; the pump casing and pump assembly height measurement system is used to assist in the automatic assembly of the aviation lubricating oil pump and the measurement of the pump assembly; the CMM system is used to perform high-precision dimensional measurement of all parts of the aviation lubricating oil pump before assembly; the robot gripping system is used to accurately identify, adaptively grip, and correct the attitude of all parts of the aviation lubricating oil pump before assembly and the pump assembly after assembly.

[0008] The track pallet positioning system includes a track pallet positioning system support base, a track pallet, a roller conveyor mechanism, a pallet positioning mechanism, and a pallet positioning guard. The roller conveyor mechanism is located on top of the track pallet positioning system support base. The track pallet is placed on the roller conveyor mechanism and moves via the roller conveyor mechanism. The track pallet contains a complete set of parts for an aviation lubricating oil pump. The pallet positioning mechanism is located at the end edge of the roller conveyor mechanism. The pallet positioning guard is located at the end edge of the roller conveyor mechanism and is located on the opposite side of the pallet positioning mechanism. An RFID sensor for identifying the track pallet is also provided at the end edge of the roller conveyor mechanism.

[0009] The secondary positioning system includes a high-precision pallet base, a high-precision pallet, secondary positioning mechanisms for inner rotor and intermediate shell parts, secondary positioning mechanisms for eccentric sleeve parts, secondary positioning mechanisms for outer rotor parts, an X-axis moving truss mechanism for the secondary positioning system, a vision acquisition module, and a support base for the secondary positioning system. The high-precision pallet base is positioned above the support base for the secondary positioning system. The high-precision pallet is positioned above the high-precision pallet base. The secondary positioning mechanisms for inner rotor and intermediate shell parts, eccentric sleeve parts, and outer rotor parts are arranged side-by-side above the support base for the secondary positioning system. The X-axis moving truss mechanism for the secondary positioning system is elevated above the support base for the secondary positioning system. The vision acquisition module is mounted on the X-axis moving truss mechanism of the secondary positioning system and moves in the X-axis direction via the X-axis moving truss mechanism. The movement trajectory of the vision acquisition module passes directly above the secondary positioning mechanisms for eccentric sleeve parts, outer rotor parts, and the X-axis moving truss mechanism of the secondary positioning system.

[0010] The high-precision tray base has a frustum-shaped electromagnet on top, and a V-shaped positioning block and a conical positioning pin on top of the frustum-shaped electromagnet. The bottom of the high-precision tray has a V-shaped positioning groove and a conical positioning hole. The V-shaped positioning groove is inserted and positioned with the V-shaped positioning block, and the conical positioning hole is inserted and positioned with the conical positioning pin. The top of the high-precision tray has several high-precision positioning blocks, all of which adopt a contour-following design to match different parts of the aviation lubricating pump. Spring pins are set on the high-precision positioning blocks to limit the displacement of the parts.

[0011] The secondary positioning mechanisms for the inner rotor and intermediate housing parts, the eccentric sleeve parts, and the outer rotor parts are all equipped with pneumatic three-jaw calipers. The part positioning jaws of the pneumatic three-jaw calipers adopt a contour-following design to match different parts of the aviation lubricating oil pump. The part positioning jaws are used to perform secondary adjustment and positioning of the parts placed on the secondary positioning mechanisms for the inner rotor and intermediate housing parts, the eccentric sleeve parts, and the outer rotor parts.

[0012] The pump casing and pump assembly height measurement system includes a height measurement system support base, a pump casing and pump assembly Y-axis translation mechanism, a pump casing positioning and clamping mechanism, a pump assembly stacking automatic lifting mechanism, a pump casing measurement calibration rod, a pump assembly measurement calibration rod, a height measurement system X-axis moving truss mechanism, a pump casing height measurement Z-axis lifting mechanism, a pump assembly height measurement Z-axis lifting mechanism, a pump casing high-precision measurement sensor, and a pump assembly high-precision measurement sensor. The pump casing and pump assembly Y-axis translation mechanism is positioned above the height measurement system support base. The pump casing positioning and clamping mechanism and the pump assembly stacking automatic lifting mechanism are arranged side-by-side on the pump casing and pump assembly Y-axis translation mechanism. The pump casing measurement calibration rod and the pump assembly measurement calibration rod are arranged side-by-side on the pump casing and pump assembly Y-axis translation mechanism, with the pump casing measurement calibration rod distributed on the same side as the pump casing positioning and clamping mechanism, and the pump assembly measurement calibration rod distributed on the same side as the pump assembly. The automatic lifting mechanism for stacked components is distributed on the same side; the X-axis moving truss mechanism of the height measurement system is erected above the support base of the height measurement system; the Z-axis lifting mechanism for pump casing height measurement and the Z-axis lifting mechanism for pump assembly height measurement are arranged side by side on the X-axis moving truss mechanism of the height measurement system, the Z-axis lifting mechanism for pump casing height measurement is distributed on the same side as the pump casing measurement calibration rod and the pump assembly measurement calibration rod, and the Z-axis lifting mechanism for pump assembly height measurement is distributed on the same side as the pump assembly measurement calibration rod and the automatic lifting mechanism for stacked pump assemblies; the Z-axis lifting mechanism for pump casing height measurement and the Z-axis lifting mechanism for pump assembly height measurement move in the X direction through the X-axis moving truss mechanism of the height measurement system; the high-precision measurement sensor for pump casing is installed on the Z-axis lifting mechanism for pump casing height measurement; the high-precision measurement sensor for pump assembly is installed on the Z-axis lifting mechanism for pump assembly height measurement.

[0013] The coordinate measuring system includes a coordinate measuring machine and a high-precision pallet positioning base. The high-precision pallet positioning base is fixedly mounted above the worktable of the coordinate measuring machine. A frustum-shaped electromagnet is also provided on the top of the high-precision pallet positioning base, and a V-shaped positioning block and a conical positioning pin are also provided on the top of the frustum-shaped electromagnet. The V-shaped positioning block on the high-precision pallet positioning base is inserted into and positioned in conjunction with the V-shaped positioning groove on the bottom of the high-precision pallet. The conical positioning pin on the high-precision pallet positioning base is inserted into and positioned in conjunction with the conical positioning hole groove on the bottom of the high-precision pallet.

[0014] The robot gripping system includes a robot body, a robot gripping system support base, a main gripper mechanism, a secondary gripper mechanism, and a vision inspection module; the robot body is positioned above the robot gripping system support base; the main gripper mechanism, the secondary gripper mechanism, and the vision inspection module are integrated and installed at the end of the robot body.

[0015] The beneficial effects of this invention are: This invention relates to an integrated assembly and inspection device for aviation lubricating oil pumps. It employs tracked management, using a tracked pallet in conjunction with visual recognition to complete pre-assembly assembly checks, avoiding interruptions to the automated process due to missing or incorrect parts. A secondary positioning system, in conjunction with a robotic gripping system, converts parts from the tracked pallet to a high-precision pallet. The high-precision pallet features a contour-following design and positioning blocks, each with spring pins to ensure no displacement of parts during measurement. This meets micron-level accuracy requirements for coordinate measuring machines (CMMs) of individual parts before assembly, automated assembly, and post-assembly component height measurement. The secondary positioning system uses visual acquisition to identify part placement angles and pose deviations, feeding this information back to the robotic gripping system for automatic adjustment, ensuring correct angular pose of parts and meeting automated assembly requirements. A high-precision contact displacement sensor, in conjunction with a truss mechanism, measures the height of the pump casing and pump components. The robotic gripping system, in conjunction with an automatic stacking and lifting base, automatically stacks and assembles the pump components. The robotic gripping system, using visual recognition and a multi-gripper mechanism, efficiently and accurately grips different models, types, sizes, and shapes of parts. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the integrated assembly and inspection device for aviation lubricating oil pumps according to the present invention; Figure 2 This is a schematic diagram of the track tray positioning system of the present invention; Figure 3 This is a schematic diagram of the secondary positioning system of the present invention; Figure 4 This is a schematic diagram of the pump casing and pump assembly height measurement system of the present invention; Figure 5 This is a schematic diagram of the three-coordinate measuring system of the present invention; Figure 6 This is a schematic diagram of the robot grasping system of the present invention; In the diagram, 1—tracked pallet positioning system, 2—secondary positioning system, 3—pump casing and pump assembly height measurement system, 4—three-coordinate measuring system, 5—robot gripping system, 101—tracked pallet positioning system support base, 102—tracked pallet, 103—roller conveyor mechanism, 104—pallet positioning mechanism, 105—pallet positioning guard, 106—RFID sensor, 201—high-precision pallet base, 202—high-precision pallet, 203—secondary positioning mechanism for inner rotor and intermediate shell parts, 204—secondary positioning mechanism for eccentric sleeve parts, 205—secondary positioning mechanism for outer rotor parts, 206—X-direction moving truss mechanism of secondary positioning system, 207—vision acquisition module, 208—secondary positioning system support base, 3 01—Height measurement system support base; 302—Pump casing and pump assembly Y-axis translation mechanism; 303—Pump casing positioning and clamping mechanism; 304—Pump assembly stacking automatic lifting mechanism; 305—Pump casing measurement calibration rod; 306—Pump assembly measurement calibration rod; 307—Height measurement system X-axis moving truss mechanism; 308—Pump casing height measurement Z-axis lifting mechanism; 309—Pump assembly height measurement Z-axis lifting mechanism; 310—Pump casing high-precision measurement sensor; 311—Pump assembly high-precision measurement sensor; 401—Coordinate measuring machine; 402—High-precision pallet positioning base; 501—Robot body; 502—Robot gripping system support base; 503—Main gripper mechanism; 504—Secondary gripper mechanism; 505—Vision inspection module. Detailed Implementation

[0017] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0018] like Figure 1 As shown, an integrated assembly and inspection device for aviation lubricating oil pumps includes a track tray positioning system 1, a secondary positioning system 2, a pump casing and pump assembly height measurement system 3, a coordinate measuring machine (CMM) system 4, and a robot gripping system 5. The track tray positioning system 1, secondary positioning system 2, pump casing and pump assembly height measurement system 3, and CMM system 4 are distributed around the robot gripping system 5. All three systems are within the gripping coverage area of ​​the robot gripping system 5. The tracking tray positioning system 1 is used to store all the parts of the aviation oil pump before assembly; the secondary positioning system 2 is used to perform high-precision secondary positioning of all the parts of the aviation oil pump before assembly; the pump housing and pump assembly height measurement system 3 is used to assist in the automatic assembly of the aviation oil pump and the measurement of the pump assembly; the coordinate measuring system 4 is used to perform high-precision dimensional measurement of all the parts of the aviation oil pump before assembly; and the robot grasping system 5 is used to accurately identify, adaptively grasp, and correct the attitude of all the parts of the aviation oil pump before assembly and the pump assembly after assembly.

[0019] like Figure 2 As shown, the track pallet positioning system 1 includes a track pallet positioning system support base 101, a track pallet 102, a roller conveyor mechanism 103, a pallet positioning mechanism 104, and a pallet positioning guard 105. The roller conveyor mechanism 103 is disposed on top of the track pallet positioning system support base 101. The track pallet 102 is placed on the roller conveyor mechanism 103 and moves via the roller conveyor mechanism 103. The track pallet 102 contains a complete set of parts for an aviation lubricating oil pump. The pallet positioning mechanism 104 is disposed at the end edge of the roller conveyor mechanism 103. The pallet positioning guard 105 is disposed at the end edge of the roller conveyor mechanism 103 and is located on the opposite side of the pallet positioning mechanism 104. An RFID sensor 106 for identifying the track pallet 102 is also disposed at the end edge of the roller conveyor mechanism 103.

[0020] In this embodiment, the track pallet positioning system support base 101 is constructed from 40mm profiles, and adjustable feet are provided at the bottom of the four legs of the track pallet positioning system support base 101; the track pallet 102 adopts a rectangular box structure, with a long side length of 600mm and a short side length of 400mm, and all parts of the aviation lubricating oil pump are neatly arranged in the box of the track pallet 102; the roller conveyor mechanism 103 is motor driven; the pallet positioning mechanism 104 uses a cylinder of model MGQM32-60-M9NV, and a wedge-shaped pressure head is provided at the end of the piston rod of the cylinder, with the inclined surface of the wedge-shaped pressure head facing downward; the pallet positioning stop 105 is also provided with a wedge-shaped protrusion. The inclined surface faces downward; rectangular grooves are provided on both short side enclosures of the track tray 102; when the track tray 102 containing the complete set of aviation lubricating oil pump parts moves to the end of the roller conveyor mechanism 103, the RFID sensor 106 will identify the track tray 102, and then the piston rod of the cylinder will extend, so that the track tray 102 is clamped and fixed between the wedge-shaped pressure head and the wedge-shaped protrusion, and the wedge-shaped pressure head and the wedge-shaped protrusion both extend into the rectangular grooves of the short side enclosures of the track tray 102. In addition to being subjected to the horizontal clamping force, the track tray 102 can also generate downward pressure on the lower edge of the rectangular grooves of the short side enclosures of the track tray 102 through the downward component force generated by the inclined surface of the wedge-shaped pressure head and the wedge-shaped protrusion, further improving the positioning stability of the track tray 102.

[0021] like Figure 3As shown, the secondary positioning system 2 includes a high-precision pallet base 201, a high-precision pallet 202, a secondary positioning mechanism 203 for inner rotor and intermediate shell-type parts, a secondary positioning mechanism 204 for eccentric sleeve-type parts, a secondary positioning mechanism 205 for outer rotor-type parts, a secondary positioning system X-axis moving truss mechanism 206, a vision acquisition module 207, and a secondary positioning system support base 208; the high-precision pallet base 201 is positioned above the secondary positioning system support base 208; the high-precision pallet 202 is positioned above the high-precision pallet base 201; the secondary positioning mechanism 203 for inner rotor and intermediate shell-type parts, the secondary positioning mechanism 204 for eccentric sleeve-type parts, the secondary positioning mechanism 205 for outer rotor-type parts, the X-axis moving truss mechanism 206 for the secondary positioning system, a vision acquisition module 207, and a secondary positioning system support base 208; the high-precision pallet base 201 is positioned above the secondary positioning system support base 208; the high-precision pallet 202 is positioned above the high-precision pallet base 201; the secondary positioning mechanism 203 for inner rotor and intermediate shell-type parts, the secondary positioning mechanism 204 for eccentric sleeve-type parts, and the secondary positioning mechanism 205 for outer rotor-type parts... The secondary positioning mechanism 204 and the secondary positioning mechanism 205 for external rotor-type parts are arranged side by side above the secondary positioning system support base 208; the X-axis moving truss mechanism 206 of the secondary positioning system is erected above the secondary positioning system support base 208; the vision acquisition module 207 is installed on the X-axis moving truss mechanism 206 of the secondary positioning system, and the vision acquisition module 207 moves in the X direction through the X-axis moving truss mechanism 206 of the secondary positioning system; the movement trajectory of the vision acquisition module 207 passes directly above the secondary positioning mechanism 204 for eccentric sleeve-type parts, the secondary positioning mechanism 205 for external rotor-type parts, and the X-axis moving truss mechanism 206 of the secondary positioning system.

[0022] The high-precision tray base 201 has a frustum-shaped electromagnet on its top, and a V-shaped positioning block and a conical positioning pin on the top of the frustum-shaped electromagnet. The high-precision tray 202 has a V-shaped positioning groove and a conical positioning hole on its bottom. The V-shaped positioning groove is inserted and positioned with the V-shaped positioning block, and the conical positioning hole is inserted and positioned with the conical positioning pin. The high-precision tray 202 has several high-precision positioning blocks on its top. All high-precision positioning blocks adopt a contour-following design to match different parts of the aviation lubricating oil pump. Spring pins are set on the high-precision positioning blocks to limit the displacement of the parts.

[0023] The secondary positioning mechanisms 203 for inner rotor and intermediate shell parts, 204 for eccentric sleeve parts, and 205 for outer rotor parts are all equipped with pneumatic three-jaw calipers. The part positioning jaws of the pneumatic three-jaw calipers adopt a contour-following design to match different parts of the aviation lubricating oil pump. The part positioning jaws are used to perform secondary adjustment and positioning of the parts placed on the secondary positioning mechanisms 203 for inner rotor and intermediate shell parts, 204 for eccentric sleeve parts, and 205 for outer rotor parts.

[0024] In this embodiment, the secondary positioning system support base 208 is welded from 50mm square steel. The internal space of the secondary positioning system support base 208 is used to house the electrical cabinet. Adjustable feet are installed at the four corners of the bottom of the secondary positioning system support base 208. Three sets of frustum-shaped electromagnets are provided on the top of the high-precision pallet base 201, and three sets of high-precision pallets 202 are also provided. Through the three sets of high-precision pallets 202 and their high-precision positioning blocks, the complete set of parts for the aviation lubricating oil pump can be covered. The high-precision pallet base 201 and the high-precision pallets... The positioning accuracy between parts 202 and the high-precision positioning block and the complete set of parts for the aviation lubricating oil pump is within 0.02mm; the diameter of the frustum-shaped electromagnet is φ20mm, and the height of the frustum-shaped electromagnet is 70mm; the X-axis moving truss mechanism 206 of the secondary positioning system adopts a servo motor-driven screw guide rail slider mechanism, and the servo motor brand is Siemens, model NK12-L20-S1200-M2-H400W; the vision acquisition module 207 adopts a vision recognition camera, and the brand of the vision recognition camera is Cognex. The resolution is 20 megapixels. After the parts are transferred from the track tray 102 to the secondary positioning mechanisms 203 (inner rotor and intermediate shell type parts), 204 (eccentric sleeve type parts), and 205 (outer rotor type parts), the vision acquisition module 207 moves along the X-axis moving truss mechanism 206 of the secondary positioning system to take high-precision photos of the parts on the secondary positioning mechanisms 203, 204, and 205, accurately identifying the current angle of the parts. The position deviation is detected, and the current angle and position deviation data are simultaneously fed back to the robot grasping system 5. The robot grasping system 5 then performs position compensation and transfers the part from the secondary positioning mechanism 203 for inner rotor and intermediate shell type parts, the secondary positioning mechanism 204 for eccentric sleeve type parts, and the secondary positioning mechanism 205 for outer rotor type parts to the high-precision tray 202 in the correct posture. The high-precision positioning block on the top of the high-precision tray 202 restricts the displacement of the part through spring pins to ensure that the part does not undergo micro-movements during the subsequent movement of the high-precision tray 202.

[0025] like Figure 4As shown, the pump casing and pump assembly height measurement system 3 includes a height measurement system support base 301, a pump casing and pump assembly Y-axis translation mechanism 302, a pump casing positioning and clamping mechanism 303, a pump assembly stacking automatic lifting mechanism 304, a pump casing measurement calibration rod 305, a pump assembly measurement calibration rod 306, a height measurement system X-axis moving truss mechanism 307, a pump casing height measurement Z-axis lifting mechanism 308, a pump assembly height measurement Z-axis lifting mechanism 309, a pump casing high-precision measurement sensor 310, and a pump assembly high-precision measurement... The pump housing and pump assembly Y-axis translation mechanism 302 is positioned above the height measurement system support base 301; the pump housing positioning and clamping mechanism 303 and the pump assembly stacking automatic lifting mechanism 304 are arranged side-by-side on the pump housing and pump assembly Y-axis translation mechanism 302; the pump housing measuring calibration rod 305 and the pump assembly measuring calibration rod 306 are arranged side-by-side on the pump housing and pump assembly Y-axis translation mechanism 302, with the pump housing measuring calibration rod 305 and the pump housing positioning and clamping mechanism 303 distributed on the same side, and the pump assembly measuring calibration rod 306... The fixed rod 306 and the automatic lifting mechanism 304 for stacking pump components are distributed on the same side; the X-axis moving truss mechanism 307 of the height measurement system is erected above the support base 301 of the height measurement system; the Z-axis lifting mechanism 308 for measuring pump casing height and the Z-axis lifting mechanism 309 for measuring pump component height are arranged side by side on the X-axis moving truss mechanism 307 of the height measurement system, and the Z-axis lifting mechanism 308 for measuring pump casing height is distributed on the same side as the pump casing measuring calibration rod 305 and the pump component measuring calibration rod 306, and the pump component height measurement... The Z-axis lifting mechanism 309 is distributed on the same side as the pump assembly measuring calibration rod 306 and the pump assembly stacking automatic lifting mechanism 304; the pump casing height measuring Z-axis lifting mechanism 308 and the pump assembly height measuring Z-axis lifting mechanism 309 move in the X direction through the height measuring system X-axis moving truss mechanism 307; the pump casing high-precision measuring sensor 310 is installed on the pump casing height measuring Z-axis lifting mechanism 308; the pump assembly high-precision measuring sensor 311 is installed on the pump assembly height measuring Z-axis lifting mechanism 309.

[0026] In this embodiment, the height measurement system support base 301 is made of 50mm square steel welded together, and adjustable feet are installed at the four corners of the bottom of the height measurement system support base 301; the pump housing and pump assembly Y-axis translation mechanism 302 adopts a servo motor driven screw guide rail slider mechanism and is equipped with a slide plate. The servo motor is a Siemens brand, model NK8-L5-S300-M3-H200W. Under the control of the servo motor, the slide plate moves along the slide rail in the Y-axis direction, synchronously driving the pump on it. The housing positioning and clamping mechanism 303, the pump assembly stacking automatic lifting mechanism 304, the pump housing measuring calibration rod 305, and the pump assembly measuring calibration rod 306 move together to achieve the conversion between the "measuring position" and the "assembly position." The pump housing positioning and clamping mechanism 303 adopts a clamping mechanism driven by a rotary cylinder, which achieves positioning and clamping by clamping the edge of the pump housing, eliminating the degree of freedom of the pump housing and ensuring that the position of the pump housing is fully fixed during subsequent measurements. The pump assembly stacking automatic lifting mechanism 304 adopts a servo motor driven screw guide rail slider mechanism. During the pump assembly process, a fixed-distance descent control is implemented to ensure that the pump components are assembled on the same axis. After each part is assembled, under the control of the servo motor, it automatically descends by a preset distance equal to the height of the part. The purpose is to always keep the top part to be assembled at a relatively constant optimal height that is easy for the robot to grasp and assemble, while ensuring that all parts are accurately stacked along the same axis. The pump housing measurement calibration rod 305 and the pump assembly measurement calibration rod 306 adopt a high-precision calibration rod structure. Before each measurement, they serve as the physical reference for the automatic "relative zero point" calibration of the pump housing high-precision measurement sensor 310 and the pump assembly high-precision measurement sensor 311, in order to eliminate errors caused by system thermal deformation, mechanical drift, etc., and ensure the stability of long-term measurement. Both the pump housing high-precision measurement sensor 310 and the pump assembly high-precision measurement sensor 311 use high-precision contact displacement sensors. The brand of the high-precision contact displacement sensor is Keyence, and the model of the high-precision contact displacement sensor is GT2.

[0027] like Figure 5 As shown, the coordinate measuring system 4 includes a coordinate measuring machine 401 and a high-precision pallet positioning base 402. The high-precision pallet positioning base 402 is fixedly mounted above the worktable of the coordinate measuring machine 401. A frustum-shaped electromagnet is also provided on the top of the high-precision pallet positioning base 402, and a V-shaped positioning block and a conical positioning pin are also provided on the top of the frustum-shaped electromagnet. The V-shaped positioning block on the high-precision pallet positioning base 402 is inserted into and positioned in conjunction with the V-shaped positioning groove at the bottom of the high-precision pallet 202. The conical positioning pin on the high-precision pallet positioning base 402 is inserted into and positioned in conjunction with the conical positioning hole groove at the bottom of the high-precision pallet 202.

[0028] In this embodiment, the coordinate measuring machine 401 is a Swiss Danqing brand, and its model is EXT-520. This model of coordinate measuring machine 401 adopts a high-precision parallel motion structure. Its three linear drive rods are installed on three universal joints at the top. The end of each drive rod is directly connected to the probe platform. A linear grating is installed on the drive rod to provide grating feedback. Its end is equipped with a high-precision contact probe to ensure that the measurement accuracy in three-dimensional space reaches the micron level. The worktable of the coordinate measuring machine 401 is a granite worktable. The high-precision pallet positioning base 402 installed on it is physically unified with the high-precision pallet base 201 in the secondary positioning system 2 in terms of mechanical interface, positioning reference and coordinate system.

[0029] like Figure 6 As shown, the robot gripping system 5 includes a robot body 501, a robot gripping system support base 502, a main gripper mechanism 503, a secondary gripper mechanism 504, and a vision detection module 505; the robot body 501 is disposed above the robot gripping system support base 502; the main gripper mechanism 503, the secondary gripper mechanism 504, and the vision detection module 505 are integrated and installed at the end of the robot body 501.

[0030] In this embodiment, the robot body 501 is a KUKA product, model KR50; the robot gripping system support base 502 adopts a flat plate structure and is square in shape, with a side length of 900mm and a thickness of 30mm; the main gripper mechanism 503 uses a parallel cylinder, is a Festo product, and has a model MHL2-25D; the secondary gripper mechanism 504 uses a parallel cylinder, is a Festo product, and the main gripper mechanism 503 has a model MHL2-16D; the vision inspection module 505 uses a vision recognition camera, is a Cognex product, and has 20 megapixels.

[0031] The following description, in conjunction with the accompanying drawings, illustrates the usage of this invention: ① Parts on-line and kit inspection.

[0032] The operator places a complete set of parts for a specific model of aviation lubricating oil pump into the corresponding track tray 102 according to the preset "track" positions. Once the track tray 102 is full, it is automatically transferred by the roller conveyor mechanism 103 to the gripping position at the end. Then, the tray positioning mechanism 104 is activated to press and fix the track tray 102 onto the tray positioning stop 105, achieving coarse positioning and locking of the track tray 102. Subsequently, the vision inspection module 505 at the end of the robot gripping system 5 quickly scans the complete set of parts in the track tray 102 and compares it with the parts model library until the pre-assembly assembly completeness inspection is finished. If any parts are missing, incorrect, or the orientation is abnormal, the system alarms and pauses the process to prevent subsequent errors.

[0033] ② Part gripping and secondary precision positioning.

[0034] After the kitting inspection is passed, the robot body 501, according to a preset program, uses the main gripper mechanism 503 to pick up the parts from the track tray 102 and transfers them to the secondary positioning system 2. Depending on the type of part, the secondary positioning mechanism 203 for inner rotor and intermediate shell parts, the secondary positioning mechanism 204 for eccentric sleeve parts, and the secondary positioning mechanism 205 for outer rotor parts perform initial clamping and fixation on the parts. Then, the vision acquisition module 207 on the X-axis moving truss mechanism 206 of the secondary positioning system takes high-precision pictures of the initially fixed parts to accurately identify their current angle and position deviation. Subsequently, the vision acquisition module 207 feeds back the current angle and position deviation data to the robot gripping system 5 in real time. The robot gripping system 5 then performs position compensation and picks up the parts in the correct posture and accurately places them on the high-precision tray 202. The displacement of the parts on the high-precision tray 202 is limited by the spring pins on the high-precision positioning blocks to ensure that the parts do not move slightly during the subsequent movement of the high-precision tray 202. Repeat the above process until all parts of the aviation oil pump are precisely placed on the high-precision tray 202.

[0035] ③ Precision measurement of parts before assembly.

[0036] Once the high-precision pallet 202 is fully loaded with all the parts for the aviation lubricating oil pump, the robot body 501, according to a preset program, uses the secondary gripper mechanism 504 to transfer one of the high-precision pallets 202 to the high-precision pallet positioning base 402 of the coordinate measuring system 4. Then, the coordinate measuring machine 401 performs precision measurements on the parts on the high-precision pallet 202. After the coordinate measuring machine 401 starts according to the preset program, it automatically performs contact scanning measurements on the critical dimensions of each part on the high-precision pallet 202. The measurement data is automatically recorded and compared with tolerances until all parts pass inspection. This process is repeated until all parts on the remaining high-precision pallets 202 have been measured. Once all parts have passed inspection, all high-precision pallets 202 are transferred back to the secondary positioning system 2 by the robot gripping system 5.

[0037] ④ Pump casing positioning and automated stacking of pump components.

[0038] After the complete set of parts, having passed inspection, is returned to the secondary positioning system 2, the robot body 501, according to a preset program, uses the main gripper mechanism 503 to transfer the pump housing onto the pump housing positioning and clamping mechanism 303 of the pump housing and pump assembly height measurement system 3. The pump housing is then clamped and fixed by the pump housing positioning and clamping mechanism 303. Subsequently, the robot body 501 continues to use the main gripper mechanism 503, according to a preset program, to place the parts for pump assembly assembly one by one onto the pump assembly stacking automatic lifting mechanism 304 in the order of the assembly process. Each time a part is successfully assembled, the pump assembly stacking automatic lifting mechanism 304 precisely lowers by a distance equal to the height of that part, ensuring that the top of the subsequent parts to be assembled is always kept at the same optimal height for easy operation by the robot gripping system 5. This ensures that all parts are precisely pressed along the same axis, avoiding tilting or assembly gaps.

[0039] ⑤ Online measurement of the height between the pump casing and the pump assembly after assembly.

[0040] After the pump casing and pump assembly are fully assembled, the pump casing height measuring Z-axis lifting mechanism 308 moves the pump casing high-precision measuring sensor 310 to complete the "relative zero point" calibration of the pump casing measuring calibration rod 305. Simultaneously, the pump assembly height measuring Z-axis lifting mechanism 309 moves the pump assembly high-precision measuring sensor 311 to complete the "relative zero point" calibration of the pump assembly measuring calibration rod 306. Subsequently, the pump casing and pump assembly are transferred from the "assembly position" to the "measurement position" via the pump casing and pump assembly Y-axis translation mechanism 302. The pump casing height measuring Z-axis lifting mechanism 308 moves the pump casing high-precision measuring sensor 310 to complete the measurement of the pump casing, and the pump assembly height measuring Z-axis lifting mechanism 309 moves the pump assembly high-precision measuring sensor 311 to complete the measurement of the pump assembly. The measurement accuracy can reach the micrometer level. The measurement results are compared with the calibration data in real time to determine whether the assembly result is qualified.

[0041] ⑥ Process closed loop and data traceability.

[0042] Once the assembly of the pump housing and pump components is deemed satisfactory, the robotic gripping system 5 transfers the assembly back to the track tray 102 for storage. Throughout the entire assembly and inspection process, measurement data, assembly sequence, and key dimensional results for all parts are automatically saved and recorded, enabling full-process data traceability.

[0043] The solutions in the embodiments are not intended to limit the scope of protection of the present invention. All equivalent implementations or modifications that do not depart from the present invention are included in the scope of protection of the present invention.

Claims

1. An integrated device for assembling and inspecting aviation lubricating oil pumps, characterized in that: The system includes a track pallet positioning system, a secondary positioning system, a pump housing and pump assembly height measurement system, a coordinate measuring machine (CMM) system, and a robot gripping system. The track pallet positioning system, secondary positioning system, pump housing and pump assembly height measurement system, and CMM system are distributed around the robot gripping system. All of these systems are within the gripping coverage area of ​​the robot gripping system. The track pallet positioning system stores all parts of the aviation oil pump before assembly. The secondary positioning system performs high-precision secondary positioning of all parts of the aviation oil pump before assembly. The pump housing and pump assembly height measurement system assists in the automatic assembly of the aviation oil pump and the measurement of the pump assembly. The CMM system performs high-precision dimensional measurement of all parts of the aviation oil pump before assembly. The robot gripping system accurately identifies, adaptively grips, and corrects the attitude of all parts of the aviation oil pump before assembly and the assembled pump assembly.

2. The integrated installation and inspection device for aviation lubricating oil pumps according to claim 1, characterized in that: The track pallet positioning system includes a track pallet positioning system support base, a track pallet, a roller conveyor mechanism, a pallet positioning mechanism, and a pallet positioning guard. The roller conveyor mechanism is located on top of the track pallet positioning system support base. The track pallet is placed on the roller conveyor mechanism and moves via the roller conveyor mechanism. The track pallet contains a complete set of parts for an aviation lubricating oil pump. The pallet positioning mechanism is located at the end edge of the roller conveyor mechanism. The pallet positioning guard is located at the end edge of the roller conveyor mechanism and is located on the opposite side of the pallet positioning mechanism. An RFID sensor for identifying the track pallet is also provided at the end edge of the roller conveyor mechanism.

3. The integrated installation and inspection device for aviation lubricating oil pumps according to claim 1, characterized in that: The secondary positioning system includes a high-precision pallet base, a high-precision pallet, secondary positioning mechanisms for inner rotor and intermediate shell parts, secondary positioning mechanisms for eccentric sleeve parts, secondary positioning mechanisms for outer rotor parts, an X-axis moving truss mechanism for the secondary positioning system, a vision acquisition module, and a support base for the secondary positioning system. The high-precision pallet base is positioned above the support base for the secondary positioning system. The high-precision pallet is positioned above the high-precision pallet base. The secondary positioning mechanisms for inner rotor and intermediate shell parts, eccentric sleeve parts, and outer rotor parts are arranged side-by-side above the support base for the secondary positioning system. The X-axis moving truss mechanism for the secondary positioning system is elevated above the support base for the secondary positioning system. The vision acquisition module is mounted on the X-axis moving truss mechanism of the secondary positioning system and moves in the X-axis direction via the X-axis moving truss mechanism. The movement trajectory of the vision acquisition module passes directly above the secondary positioning mechanisms for eccentric sleeve parts, outer rotor parts, and the X-axis moving truss mechanism of the secondary positioning system.

4. The integrated installation and inspection device for aviation lubricating oil pumps according to claim 3, characterized in that: The high-precision tray base has a frustum-shaped electromagnet on top, and a V-shaped positioning block and a conical positioning pin on top of the frustum-shaped electromagnet. The bottom of the high-precision tray has a V-shaped positioning groove and a conical positioning hole. The V-shaped positioning groove is inserted and positioned with the V-shaped positioning block, and the conical positioning hole is inserted and positioned with the conical positioning pin. The top of the high-precision tray has several high-precision positioning blocks, all of which adopt a contour-following design to match different parts of the aviation lubricating pump. Spring pins are set on the high-precision positioning blocks to limit the displacement of the parts.

5. The integrated installation and inspection device for aviation lubricating oil pumps according to claim 3, characterized in that: The secondary positioning mechanisms for the inner rotor and intermediate housing parts, the eccentric sleeve parts, and the outer rotor parts are all equipped with pneumatic three-jaw calipers. The part positioning jaws of the pneumatic three-jaw calipers adopt a contour-following design to match different parts of the aviation lubricating oil pump. The part positioning jaws are used to perform secondary adjustment and positioning of the parts placed on the secondary positioning mechanisms for the inner rotor and intermediate housing parts, the eccentric sleeve parts, and the outer rotor parts.

6. The integrated installation and inspection device for aviation lubricating oil pumps according to claim 1, characterized in that: The pump casing and pump assembly height measurement system includes a height measurement system support base, a pump casing and pump assembly Y-axis translation mechanism, a pump casing positioning and clamping mechanism, a pump assembly stacking automatic lifting mechanism, a pump casing measurement calibration rod, a pump assembly measurement calibration rod, a height measurement system X-axis moving truss mechanism, a pump casing height measurement Z-axis lifting mechanism, a pump assembly height measurement Z-axis lifting mechanism, a pump casing high-precision measurement sensor, and a pump assembly high-precision measurement sensor. The pump casing and pump assembly Y-axis translation mechanism is positioned above the height measurement system support base. The pump casing positioning and clamping mechanism and the pump assembly stacking automatic lifting mechanism are arranged side-by-side on the pump casing and pump assembly Y-axis translation mechanism. The pump casing measurement calibration rod and the pump assembly measurement calibration rod are arranged side-by-side on the pump casing and pump assembly Y-axis translation mechanism, with the pump casing measurement calibration rod distributed on the same side as the pump casing positioning and clamping mechanism, and the pump assembly measurement calibration rod distributed on the same side as the pump assembly. The automatic lifting mechanism for stacked components is distributed on the same side; the X-axis moving truss mechanism of the height measurement system is erected above the support base of the height measurement system; the Z-axis lifting mechanism for pump casing height measurement and the Z-axis lifting mechanism for pump assembly height measurement are arranged side by side on the X-axis moving truss mechanism of the height measurement system, the Z-axis lifting mechanism for pump casing height measurement is distributed on the same side as the pump casing measurement calibration rod and the pump assembly measurement calibration rod, and the Z-axis lifting mechanism for pump assembly height measurement is distributed on the same side as the pump assembly measurement calibration rod and the automatic lifting mechanism for stacked pump assemblies; the Z-axis lifting mechanism for pump casing height measurement and the Z-axis lifting mechanism for pump assembly height measurement move in the X direction through the X-axis moving truss mechanism of the height measurement system; the high-precision measurement sensor for pump casing is installed on the Z-axis lifting mechanism for pump casing height measurement; the high-precision measurement sensor for pump assembly is installed on the Z-axis lifting mechanism for pump assembly height measurement.

7. The integrated installation and inspection device for aviation lubricating oil pumps according to claim 1, characterized in that: The coordinate measuring system includes a coordinate measuring machine and a high-precision pallet positioning base. The high-precision pallet positioning base is fixedly mounted above the worktable of the coordinate measuring machine. A frustum-shaped electromagnet is also provided on the top of the high-precision pallet positioning base, and a V-shaped positioning block and a conical positioning pin are also provided on the top of the frustum-shaped electromagnet. The V-shaped positioning block on the high-precision pallet positioning base is inserted into and positioned in conjunction with the V-shaped positioning groove on the bottom of the high-precision pallet. The conical positioning pin on the high-precision pallet positioning base is inserted into and positioned in conjunction with the conical positioning hole groove on the bottom of the high-precision pallet.

8. The integrated installation and inspection device for aviation lubricating oil pumps according to claim 1, characterized in that: The robot gripping system includes a robot body, a robot gripping system support base, a main gripper mechanism, a secondary gripper mechanism, and a vision inspection module; the robot body is positioned above the robot gripping system support base; the main gripper mechanism, the secondary gripper mechanism, and the vision inspection module are integrated and installed at the end of the robot body.

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