An acceleration sensor automatic detection device

Abstract

This utility model discloses an automatic detection device for accelerometers, comprising: a worktable, a robotic arm, a rotary clamping mechanism, a negative pressure adsorption component, a vision-guided positioning unit, a material inspection module, a finished product collection and distribution module, a sensor testing module, and an abnormal product buffer module. The rotary clamping mechanism includes a rotary driver, a rotary clamping end effector, and a cable clamping mechanism. The rotary clamping end effector performs gripping, rotating tightening, and loosening operations, and adaptively corrects workpiece posture deviations through positioning blocks and springs. The rotary driver adjusts the posture of the rotary clamping end effector. The cable clamping mechanism keeps the cable extended to prevent tangling. The vision-guided positioning unit is used for target object recognition, point cloud data acquisition, and spatial posture calculation. This utility model solves the problems of low efficiency in manual operation and the impact of posture deviations on detection accuracy.

Description

Technical Field

[0001] This utility model relates to the field of acceleration sensor detection technology, and in particular to an automatic acceleration sensor detection device. Background Technology

[0002] In the field of metrology and testing, performance testing of accelerometers is a core component in ensuring the accuracy of equipment condition monitoring, product quality control, and scientific research data. These testing tasks are characterized by high frequency and strong repeatability.

[0003] Currently, the following prominent problems exist in sensor testing processes: Manual installation, testing, and disassembly of sensors are inefficient and unstable, time-consuming, and easily affected by operator skill levels and fluctuations in condition, making it difficult to standardize the time for a single operation. Frequent, highly repetitive actions easily lead to operator fatigue and decreased concentration, potentially inducing operational errors (such as improper installation, poor connections, or accidental damage to the sensor or the device under test). Manual operation struggles to achieve precise control and high repeatability; sensor vibration tables cannot guarantee the sensor's installation status, and deviations in sensor installation posture will cause test signal distortion, potentially directly affecting the accuracy, reliability, and comparability of the test data. Sensor cables are prone to tangling, leading to a series of problems. Summary of the Invention

[0004] To address the shortcomings of the existing technology, this utility model provides an automatic detection device for an accelerometer, including a worktable, a robotic arm, a rotary clamping mechanism, a negative pressure adsorption component, a visual guidance positioning unit, a material inspection module, a finished product distribution module, a sensor testing module, and an abnormal product buffer module.

[0005] The rotary clamping mechanism is installed at the end of the robotic arm. The rotary clamping mechanism includes a rotary driver, a rotary clamping end effector, and a cable clamping mechanism. The rotary driver is mounted on a custom mounting base. The rotary clamping end effector is connected to the output shaft of the rotary driver. The rotary clamping end effector is used to perform gripping, rotating tightening, and loosening operations, and adaptively corrects workpiece posture deviation through positioning blocks and springs. The rotary driver is used to adjust the posture of the rotary clamping end effector. The negative pressure adsorption assembly and the vision-guided positioning unit are both mounted on the custom mounting base. The vision-guided positioning unit is used for target object recognition, point cloud data acquisition, and spatial posture calculation. The material inspection module includes an accelerometer to be inspected and a first positioning tray. The finished product distribution module includes a qualified accelerometer and a second positioning tray. The negative pressure adsorption assembly is used to adsorb and transfer the first positioning tray. The sensor testing module includes a secondary positioning stage, a sensor testing stage, sensor test lines, and a sensor test line placement stage. The defective product buffer module includes a failed accelerometer and a defective product placement box.

[0006] Furthermore, the workbench serves as the basic platform for the device, and the robotic arm, the material inspection module, the finished product distribution module, the sensor testing module, and the abnormal product buffer module are all mounted on the workbench; the cable clamping mechanism is mounted on a custom mounting base to keep the cable extended to prevent tangling.

[0007] Furthermore, the first positioning tray and the second positioning tray have guide posts at the top of their four corners and grooves at the bottom for easy stacking; the first positioning tray is used to store the accelerometer to be tested; the second positioning tray is initially empty and is used to store the accelerometer that has passed inspection; the secondary positioning stage is installed on the workbench and is used to place the accelerometer to be tested, facilitating secondary positioning by the vision-guided positioning unit; the sensor testing stage is used to test the accelerometer to be tested; the sensor test line is divided into a cable section and a connector section; the sensor test line placement stage is used to place the sensor test line; the defective product placement box is used to place the accelerometer that has failed inspection.

[0008] Furthermore, the material inspection module is installed at the corner of the workbench; the rotary driver is a rotary cylinder; the rotary clamping end effector is an electric rotary gripper; the cable clamping mechanism is a pneumatic finger; the negative pressure adsorption component is a vacuum suction cup; and the visual guidance positioning unit is a 3D camera.

[0009] Furthermore, the connector portion of the sensor test line has pre-embedded wiring terminals to ensure that the test line needle is always centered.

[0010] Compared with the prior art, this utility model has the following advantages:

[0011] This invention automates the sensor grasping, installation, detection, and disassembly process through the coordinated control of a robotic arm and a vision-guided positioning unit, thereby improving work efficiency and standardization. It integrates the precise positioning correction of a secondary positioning stage, the adaptive structure of a rotary clamping end effector, the integrated design of clamping and rotation, and the pose feedback of the vision-guided positioning unit to solve the sensor pose deviation problem, thus improving detection accuracy and the accuracy and reliability of detection data. Attached Figure Description

[0012] Figure 1 This is an overall structural diagram of an automatic detection device for an acceleration sensor according to an embodiment of this utility model.

[0013] Figure 2 This is a structural diagram of the rotating clamping mechanism in an embodiment of this utility model.

[0014] Figure 3 This is a structural diagram of the material inspection module in an embodiment of this utility model.

[0015] Figure 4 This is a structural diagram of the finished distribution module in an embodiment of this utility model.

[0016] Figure 5 This is a structural diagram of the sensor testing module in an embodiment of this utility model.

[0017] Figure 6 This is a structural diagram of the abnormal item cache module in an embodiment of this utility model.

[0018] In the diagram: 1. Workbench; 2. Robotic arm; 3. Rotary clamping mechanism; 31. Rotary driver; 32. Rotary clamping end effector; 33. Cable clamping mechanism; 4. Negative pressure adsorption assembly; 5. Vision-guided positioning unit; 6. Material inspection module; 61. Accelerometer sensor to be inspected; 62. First positioning tray; 7. Finished product distribution module; 71. Inspected and qualified accelerometer sensor; 72. Second positioning tray; 8. Sensor testing module; 81. Secondary positioning stage; 82. Sensor testing stage; 83. Sensor test line; 84. Sensor test line placement stage; 9. Abnormal product buffer module; 91. Inspected and unqualified accelerometer sensor; 92. Abnormal product placement box. Detailed Implementation

[0019] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of the present invention.

[0020] It should be noted that when a component is described as "fixed to" or "mounted to" another component, it can be directly on the other component or may also have an intervening component. When a component is described as "connected to" another component, it can be directly connected to the other component or may also have an intervening component.

[0021] It should also be noted that the terms "left", "right", "up", "down", "center", "vertical", "horizontal", "inner", and "outer" used in the embodiments of this utility model are only relative concepts or are based on the normal use state of the product, and should not be considered as restrictive.

[0022] An embodiment of this utility model provides an automatic detection device for an accelerometer sensor;

[0023] Please refer to Figure 1 , Figure 1 This is an overall structural diagram of an automatic detection device for an accelerometer according to an embodiment of the present invention; it includes a workbench 1, a robotic arm 2, a rotary clamping mechanism 3, a negative pressure adsorption component 4, a visual guidance and positioning unit 5, a material inspection module 6, a finished product collection and distribution module 7, a sensor testing module 8, and an abnormal product buffer module 9.

[0024] Please refer to Figure 2The rotary clamping mechanism 3 is mounted on the end of the robotic arm 2 via a custom mounting base. The rotary clamping mechanism 3 includes a rotary driver 31, a rotary clamping end effector 32, and a cable clamping mechanism 33. Both the rotary driver 31 and the cable clamping mechanism 33 are mounted on the custom mounting base. The rotary clamping end effector 32 is connected to the output shaft of the rotary driver 31. The rotary clamping end effector 32 is used to perform gripping of the accelerometer and rotational tightening / loosening operations during installation / removal. Its end effector integrates a positioning block and a spring mechanism, enabling adaptive correction of workpiece posture deviations during gripping. The rotary driver 31 is used to adjust the posture of the rotary clamping end effector 32. A negative pressure adsorption assembly is also included. Both the visual guidance and positioning unit 4 and the visual guidance and positioning unit 5 are installed on a custom mounting base; the visual guidance and positioning unit 5 is used to identify the target object, collect three-dimensional point cloud data, and calculate its precise pose in space; the material inspection module 6 includes an accelerometer sensor 61 to be inspected and a first positioning tray 62; the finished product distribution module 7 includes an accelerometer sensor 71 that has passed inspection and a second positioning tray 72; the negative pressure adsorption component 4 is used to adsorb and transfer the first positioning tray 62; the sensor testing module 8 includes a secondary positioning stage 81, a sensor testing stage 82, a sensor testing line 83, and a sensor testing line placement stage 84; the abnormal product buffer module 9 includes an accelerometer sensor 91 that has failed inspection and an abnormal product placement box 92.

[0025] Please refer to Figures 3-6 Specifically, the workbench 1 serves as the basic platform for the device, and the robotic arm 2, material inspection module 6, finished product distribution module 7, sensor testing module 8, and abnormal product buffer module 9 are all installed on the workbench 1; the cable clamping mechanism 33 is used to clamp and keep the cable in an extended state during the movement of the robotic arm 2 to prevent it from getting tangled.

[0026] Specifically, the first positioning tray 62 and the second positioning tray 72 are provided with guide posts at the top of the four corners and positioning grooves at the bottom that match the guide posts, which facilitates the stacking of the trays; the first positioning tray 62 is used to store the acceleration sensor 61 to be tested; the second positioning tray 72 is initially empty and is used to store the qualified acceleration sensor 71; the secondary positioning stage 81 is installed on the workbench 1 and is used to place the acceleration sensor 61 to be tested, which facilitates the secondary positioning by the visual guidance positioning unit 5; the sensor testing stage 82 is used to test the acceleration sensor 61 to be tested; the sensor test line 83 is divided into a cable part and a connector part; the sensor test line placement stage 84 is used to place the sensor test line 83; the defective product placement box 92 is used to place the unqualified acceleration sensor 91.

[0027] Preferably, the material inspection module 6 is installed at the corner of the workbench 1.

[0028] Preferably, the rotary actuator 31 is a rotary cylinder with a double cylinder structure, which has high rotational accuracy and smooth operation.

[0029] Preferably, the rotary clamping end effector 32 is an electric rotary gripper, which can simultaneously perform gripping and infinite rotation actions. Through precise force control and position control, it can both clamp the workpiece and tighten it.

[0030] Preferably, the cable clamping mechanism 33 uses pneumatic fingers, which are mechanical lever-type gripping structures that open and close in parallel. This reduces costs while meeting the cable gripping accuracy requirements. The piston rod clamps when it extends and opens when it retracts.

[0031] Preferably, the negative pressure adsorption component 4 is a vacuum suction cup, which consists of a vacuum generator, a powerful suction cup, and a control component.

[0032] Preferably, the visual guidance and positioning unit 5 uses a 3D camera, which has high spatial positioning accuracy and strong pose calculation capability.

[0033] Preferably, the connector portion of the sensor test line 83 has an M5-sized terminal pre-embedded inside to ensure that the test line needle remains centered during the connection process.

[0034] In this embodiment, the control system pre-programs robotic arm actions, tightening actions, and disassembly actions based on the number of accelerometers to be inspected stored in the first positioning tray of the material inspection module and the number of stacked first positioning trays. The vision-guided positioning unit performs a global scan of the first positioning tray to acquire the initial spatial pose data of each accelerometer to be inspected. The robotic arm controls a rotary gripper to grab the accelerometers to be inspected from the first positioning tray and place them on a secondary positioning stage. The vision-guided positioning unit performs fine positioning on the accelerometers to be inspected on the secondary positioning stage, generating corrected pose data. The robotic arm controls a rotary gripper to grab the accelerometers to be inspected on the secondary positioning stage, and the vision-guided positioning unit acquires… The spatial pose data of the sensor test bench is used to guide the robotic arm to control a rotary gripper to mount the accelerometer under test onto the test bench via tightening. A vision-guided positioning unit acquires spatial pose data of the sensor test cable placement platform, the connector portion of the sensor test cable, and the cable portion. The robotic arm then controls the rotary gripper to grasp the connector portion of the sensor test cable, while a cable clamping mechanism holds the cable portion to prevent tangling during movement. The robotic arm then controls the rotary gripper to tighten the connector portion of the sensor test cable onto the accelerometer under test, using a set torque value to determine if tightening is complete. After tightening, the rotary gripper releases the sensor test cable. At the connector section of the cable, the cable clamping mechanism holds the cable portion of the sensor test cable; the sensor test bench begins executing the testing program; after the test is completed, the robotic arm controls the rotary clamping end effector to disassemble the connector section of the sensor test cable, and based on the acquired pose data, the disassembled sensor test cable is placed back on the sensor test cable placement table; if the test result is qualified, the vision-guided positioning unit calculates the target pose of the second positioning tray of the finished product distribution module, and the robotic arm controls the rotary clamping end effector to grab the qualified accelerometer sensor into the second positioning tray; if the test result is unqualified, the vision-guided positioning unit calculates the target pose of the abnormal product storage box of the abnormal product buffer module, and the robotic arm controls the rotary clamping end effector to remove the qualified accelerometer sensor from the storage box. Failed accelerometers are picked up and placed in the defective product placement box; this process is repeated until all accelerometers to be inspected on the first positioning tray have been inspected; the robotic arm controls the rotary driver to adjust the position of the rotary clamping end effector to the preset safe position to avoid mechanical interference when the negative pressure adsorption component performs the adsorption operation; the vision-guided positioning unit calculates the target position of the first positioning tray of the material inspection module, and the robotic arm controls the negative pressure adsorption component to pick up the first positioning tray; the vision-guided positioning unit calculates the target position of the second positioning tray of the finished product distribution module, and the robotic arm controls the negative pressure adsorption component to stack the first positioning tray on the second positioning tray; the robotic arm controls the rotary driver to restore the position of the rotary clamping end effector to the initial position;Repeat the steps until all accelerometers to be tested in all the first positioning trays have been detected. The target pose calculation involves extracting key features of the target point cloud and solving for the pose transformation matrix using a random sampling consistency registration model. If the target pose calculation fails, the vision-guided positioning unit is triggered to rescan and record the anomaly.

[0035] The above description is merely an embodiment of this utility model and does not limit the patent scope of this utility model. Any equivalent structural or procedural transformations made using the content of this utility model specification, or direct or indirect applications in other related fields, are similarly included within the patent protection scope of this utility model.

Claims

1. An automatic detection device for an accelerometer, characterized in that: The system includes a workbench (1), a robotic arm (2), a rotary clamping mechanism (3), a negative pressure adsorption assembly (4), a vision-guided positioning unit (5), a material inspection module (6), a finished product distribution module (7), a sensor testing module (8), and an abnormal product buffer module (9). The rotary clamping mechanism (3) is installed at the end of the robotic arm (2). The rotary clamping mechanism (3) includes a rotary driver (31), a rotary clamping end effector (32), and a cable clamping mechanism (33). The rotary driver (31) is installed on a custom mounting base. The rotary clamping end effector (32) is connected to the output shaft of the rotary driver (31). The rotary clamping end effector (32) is used to perform gripping, rotating tightening, and loosening operations, and adaptively corrects the workpiece posture deviation through positioning blocks and springs. The rotary driver (31) is used to adjust the rotary clamping end effector. The pose of the end actuator (32); the negative pressure adsorption component (4) and the visual guidance positioning unit (5) are both installed on a custom mounting base; the visual guidance positioning unit (5) is used for target object recognition, point cloud data acquisition and spatial pose calculation; the material inspection module (6) includes an accelerometer sensor (61) to be inspected and a first positioning tray (62); the finished product distribution module (7) includes an accelerometer sensor (71) that has passed inspection and a second positioning tray (72); the negative pressure adsorption component (4) is used to adsorb and transfer the first positioning tray (62); the sensor testing module (8) includes a secondary positioning stage (81), a sensor testing stage (82), a sensor testing line (83) and a sensor testing line placement stage (84); the abnormal product buffer module (9) includes an accelerometer sensor (91) that has failed inspection and an abnormal product placement box (92).

2. The automatic detection device for an accelerometer according to claim 1, characterized in that: The workbench (1) serves as the basic platform for the device. The robotic arm (2), the material inspection module (6), the finished product distribution module (7), the sensor testing module (8), and the abnormal product buffer module (9) are all installed on the workbench (1). The cable clamping mechanism (33) is installed on a custom mounting base to keep the cable in an extended state to prevent tangling.

3. The automatic detection device for an accelerometer according to claim 1, characterized in that: The first positioning tray (62) and the second positioning tray (72) have guide posts at the top of their four corners and grooves at the bottom for easy stacking; the first positioning tray (62) is used to store the acceleration sensor (61) to be tested; the second positioning tray (72) is initially empty and is used to store the qualified acceleration sensor (71); the secondary positioning platform (81) is installed on the workbench (1) and is used to place the acceleration sensor (61) to be tested, so that the visual guidance positioning unit (5) can perform secondary positioning; the sensor test platform (82) is used to test the acceleration sensor (61) to be tested; the sensor test line (83) is divided into a cable part and a connector part; the sensor test line placement platform (84) is used to place the sensor test line (83); the defective product placement box (92) is used to place the unqualified acceleration sensor (91).

4. The automatic detection device for an accelerometer according to claim 1, characterized in that: The material inspection module (6) is installed at the corner of the workbench (1); the rotary driver (31) is a rotary cylinder; the rotary clamping end effector (32) is an electric rotary gripper; the cable clamping mechanism (33) is a pneumatic finger; the negative pressure adsorption component (4) is a vacuum suction cup; and the visual guidance positioning unit (5) is a 3D camera.

5. The automatic detection device for an accelerometer according to claim 1, characterized in that: The connector portion of the sensor test line (83) has pre-embedded terminals to ensure that the test line needle is always centered.

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