Detection device and detection system

Abstract

This application discloses a testing device and system, relating to the field of yard robot testing technology. The testing device is used to test the machining accuracy of a workpiece. The device includes a first reference plate; the first reference plate has a first reference surface, and is configured with a first set of reference holes and multiple sets of positioning holes facing one side of the first reference surface. The first set of reference holes is configured as the setting reference for a first set of assembly holes on the workpiece. Each set of positioning holes includes multiple positioning holes arranged sequentially along a corresponding reference direction. The testing device provided by this application can provide multi-dimensional testing of the workpiece, improving testing efficiency.

Description

Technical Field

[0001] This application relates to the field of yard robot inspection technology, and in particular to an inspection device and inspection system. Background Technology

[0002] With the widespread application of garden robots in the horticulture industry, the structure of garden robots is becoming increasingly modular. The rear of the garden robot body usually has a tail rack for connecting modular accessories such as spreaders and tillage devices.

[0003] To ensure the installation stability and operational safety of modular accessories, the structural installation accuracy of the tail rack is crucial. In related technologies, equipment used to test assembly accuracy can only perform single-item testing, leading to increased equipment investment costs for manufacturers and impacting testing efficiency. Utility Model Content

[0004] This application provides a testing device and testing system to provide multi-dimensional testing of the workpiece to be tested, thereby improving testing efficiency.

[0005] This application provides a testing device for detecting the machining accuracy of a workpiece, the testing device including a first reference plate;

[0006] The first reference plate is provided with a first reference surface, and the first reference plate is provided with a first reference hole group and a plurality of positioning hole groups facing the first reference surface. The first reference hole group is configured as the setting reference for the first assembly hole group on the test piece. Each positioning hole group includes a plurality of positioning holes arranged sequentially along the corresponding reference direction.

[0007] In some possible implementations, the first reference hole group includes a plurality of first reference holes equal to the number of first assembly holes on the test piece, wherein the plurality of first reference holes are configured in a one-to-one correspondence with an equal number of first assembly holes;

[0008] And / or, the first reference hole group includes a plurality of second reference holes equal to the number of second assembly holes on the test piece, and the plurality of second reference holes are provided in a one-to-one correspondence with the snap-fit ​​portions of an equal number of second assembly holes;

[0009] And / or, the positioning hole group is provided corresponding to the weight reduction hole on the test piece, the weight reduction hole extends along the first reference direction, and the positioning hole group includes a plurality of first positioning holes arranged sequentially along the first reference direction;

[0010] And / or, the positioning hole group is provided in a one-to-one correspondence with the slot on the test piece, each of the slots extends along the second reference direction, and the positioning hole group includes a plurality of second positioning holes arranged sequentially along the second reference direction.

[0011] In some possible implementations, the first reference plate has a plurality of first reference protrusions protruding from one side toward the first reference surface, and the plurality of first reference protrusions are configured to correspond one-to-one with a plurality of first connecting rods on the test piece.

[0012] In some possible implementations, there are two first links, which are spaced apart from each other.

[0013] The first reference plate has two first reference protrusions protruding from one side facing the first reference surface. The two reference protrusions are spaced apart and opposite to each other, and the two reference protrusions are configured to correspond and fit with the two first connecting rods one by one.

[0014] In some possible implementations, the first reference plate has a second reference protrusion protruding from one side toward the first reference surface, and the second reference protrusion is configured to fit against the connecting plate on the test piece and the second connecting rod, respectively.

[0015] In some possible implementations, the second reference protrusion is configured to be inserted between the two links and to abut against the two links respectively;

[0016] And / or, the end of the second reference protrusion away from the first reference plate is provided with a second reference hole group, and the second reference hole group is configured as the setting reference for the second assembly hole group on the connecting plate.

[0017] In some possible implementations, a first flexible pad is provided on the side of the first reference plate opposite to the first reference surface.

[0018] In some possible implementations, the detection device further includes a second reference plate, the second reference plate being configured to have a second reference surface, the second reference surface being configured to be in contact with a second mounting surface of the workpiece to be tested, the second reference plate being configured to have a third reference hole group facing the second reference surface, the third reference hole group being configured as a setting reference for a third assembly hole group on the workpiece to be tested.

[0019] In some possible implementations, a second flexible pad is provided on the side of the second reference plate opposite to the second reference surface.

[0020] In addition, this application also provides a detection system, including a control unit, a three-dimensional measurement unit, a data processing unit, and the detection device provided in the above embodiments, which are connected in sequence by output and input.

[0021] The beneficial effects of this application are as follows: The testing device provided by this application can perform machining accuracy testing on the flatness, parallelism, and first assembly hole group of the workpiece to be tested, thus realizing multi-dimensional testing, improving testing efficiency, reducing testing cost investment, and consequently reducing the manufacturer's equipment investment costs. In addition, the testing device has a simple structure, is easy to operate, and facilitates the standardization and repeated application of the testing of the workpiece to be tested. Attached Figure Description

[0022] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 A three-dimensional structural schematic diagram of an existing tail rack (the part to be tested) is shown;

[0024] Figure 2 A top view of the first reference plate is shown in some embodiments;

[0025] Figure 3 A three-dimensional structural schematic diagram of the test piece being tested via a first reference plate is shown in some embodiments;

[0026] Figure 4 A top view of the structure is shown in some embodiments for testing the workpiece through a first reference plate;

[0027] Figure 5 A bottom view of the first reference plate is shown in some embodiments;

[0028] Figure 6 A top view of the second reference plate is shown in some embodiments;

[0029] Figure 7 A three-dimensional structural schematic diagram of the test piece being tested via a second reference plate is shown in some embodiments;

[0030] Figure 8 A bottom view of the second reference plate is shown in some embodiments.

[0031] Explanation of key component symbols:

[0032] 100 - First reference plate; 101 - First reference surface; 110 - First reference hole group; 111 - First reference hole; 112 - Second reference hole; 113 - Sixth reference hole; 120 - Positioning hole group; 121 - First positioning hole; 122 - Second positioning hole; 130 - First reference protrusion; 131 - Notch; 132 - First sidewall; 133 - Second sidewall; 140 - Second reference protrusion; 150 - Second reference hole group; 151 - Third reference hole; 160 - First flexible pad;

[0033] 200 - Second reference plate; 201 - Second reference surface; 210 - Third reference hole group; 211 - Fourth reference hole; 212 - Fifth reference hole; 220 - Second flexible pad;

[0034] 300 - Part to be tested; 301 - First mounting surface; 302 - Second mounting surface; 310 - First assembly hole group; 311 - First assembly hole; 312 - Second assembly hole; 3121 - Snap-fit ​​part; 313 - Sixth assembly hole; 320 - First connecting rod; 330 - Second connecting rod; 340 - Connecting plate; 350 - Second assembly hole group; 351 - Third assembly hole; 361 - Weight reduction hole; 362 - Slot; 370 - Third assembly hole group; 371 - Fourth assembly hole; 372 - Fifth assembly hole; 380 - Mounting plate. Detailed Implementation

[0035] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0036] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0037] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0038] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0039] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0040] like Figure 2 and Figure 3 As shown, a Cartesian coordinate system is established, defining the length direction of the detection device as parallel to the x-axis, the width direction as parallel to the y-axis, and the height direction as parallel to the z-axis. It is understood that these definitions are merely for facilitating understanding of the relative positional relationships between the structures within the detection device and should not be construed as limitations on this application.

[0041] like Figures 1 to 4 As shown, the embodiment provides a detection device for detecting the machining accuracy of a workpiece 300. The workpiece 300 may be a tail bracket on a garden robot, which connects modular attachments to the robot. These modular attachments may be a spreader or a tilling device, etc. In some embodiments, the workpiece 300 may include a mounting plate 380, one side of which is configured as a first mounting surface 301, which may be a plane parallel to the xz plane. Additionally, the mounting plate 380 is provided with a first assembly hole group 310 facing the first mounting surface 301.

[0042] In some embodiments, the detection device may include a first reference plate 100, on one side of which a first reference surface 101 is disposed, wherein the first reference surface 101 is parallel to the xz plane. In another embodiment, the first reference plate 100 is further provided with a first reference hole group 110 facing the first reference surface 101 and a plurality of positioning hole groups 120. The first reference hole group 110 is configured as a setting reference for the first assembly hole group 310, and each positioning hole group 120 includes a plurality of positioning holes arranged sequentially along a corresponding reference direction.

[0043] During testing, the first mounting surface 301 of the mounting plate 380 can be aligned with the first reference surface 101 of the first reference plate 100, and the first assembly hole group 310 can be aligned with the first reference hole group 110. The mounting plate 380 and the first reference plate 100 can be rigidly fixed together by bolts or screws passing through the corresponding first assembly hole group 310 and first reference hole group 110, i.e., the mounting plate 380 is fixed relative to the first reference plate 100. The flatness of the mounting plate 380 can be detected by a contact probe or a visual recognition device.

[0044] Specifically, when testing the flatness of the mounting plate 380 using contact probes, test points are arranged in a certain grid (3*3 or 5*5). The contact probes sequentially touch each test point on the mounting plate 380, and the data of each contact probe in the y-axis direction is recorded. The plane fitting deviation is calculated, and the maximum height difference of the mounting plate 380 is calculated as the flatness using the least squares plane fitting method or the minimum containment plane algorithm. When the maximum height difference of the mounting plate 380 is less than or equal to the flatness threshold, it indicates that the flatness of the mounting plate 380 is qualified; when the maximum height difference of the mounting plate 380 is greater than the flatness threshold, it indicates that the flatness of the mounting plate 380 is unqualified, and the mounting plate 380 needs to be reworked and leveled.

[0045] In this embodiment, when the flatness of the mounting plate 380 is detected by the vision device, a calibration block is used to perform three-dimensional calibration of the industrial camera, and the y-axis direction is defined as the vertical direction. Images of the mounting plate 380 from multiple angles or multiple areas are captured by the industrial camera, a height map is constructed using the images, height information is extracted, and compared with a reference plane to calculate the maximum / minimum offset of the mounting plate 380, thereby obtaining the flatness of the mounting plate 380.

[0046] In the embodiment, when the first assembly hole group 310 is aligned with the first reference hole group 110 (within the allowable error), it indicates that the first assembly hole group 310 is qualified. When the first assembly hole group 310 is offset or tilted from the first reference hole group 110 (exceeding the allowable error), it indicates that the first assembly hole group 310 is unqualified and needs to be reprocessed.

[0047] In this embodiment, the parallelism of the mounting plate 380 can also be detected through multiple positioning hole groups 120. Specifically, the positions of the center points of multiple positioning holes in a positioning hole group 120 can be collected by a contact probe or a visual recognition device and fitted into a straight line as a reference line. Then, lines such as the side edges, slot edges, or slot center lines extending along the reference direction on the mounting plate 380 can be extracted by an image recognition device or probe, and the corresponding detection lines can be fitted. The inclination (angle deviation) or line spacing change (straightness) of the detection lines relative to the reference line is calculated. When the inclination or line spacing change of the detection lines relative to the reference line is less than or equal to the parallelism threshold, it indicates that the parallelism of the mounting plate 380 is qualified. When the inclination or line spacing change of the detection lines relative to the reference line is greater than the parallelism threshold, it indicates that the parallelism of the mounting plate 380 is unqualified.

[0048] Therefore, the testing device provided in this embodiment can perform machining accuracy testing on the flatness, parallelism, and first assembly hole group 310 of the part to be tested 300, thus achieving multi-dimensional testing, improving testing efficiency, reducing testing costs, and consequently reducing the manufacturer's equipment investment costs. Furthermore, the testing device has a simple structure, is easy to operate, and facilitates the standardization and repeated application of the testing of the part to be tested 300.

[0049] like Figure 1 and Figure 2 As shown, in some embodiments, the first mounting hole group 310 may include a plurality of first mounting holes 311. Each first mounting hole 311 may be a bolt connection hole and penetrates the mounting plate 380 along the y-axis direction. The first mounting holes 311 can be used to connect modular accessories via screws or bolts. The first reference hole group 110 may include a plurality of first reference holes 111. The number of first reference holes 111 may be equal to the number of first mounting holes 311, and they are configured in a one-to-one correspondence with the first mounting holes 311. In embodiments, the first reference holes 111 may be configured as the setting reference for the first mounting holes 311.

[0050] In some embodiments, the first mounting hole group 310 may include two groups of first mounting holes 311, and each group includes four first mounting holes 311. The four first mounting holes 311 in the same group may be located at the four corners of a right-angled quadrilateral, and the two groups of first mounting holes 311 may be sequentially arranged on the mounting plate 380 along the x-axis direction, and symmetrically arranged. Correspondingly, the first reference hole group 110 may also include two groups of first reference holes 111, and each group includes four first reference holes 111. The four first reference holes 111 in the same group may be located at the four corners of a right-angled quadrilateral, and the two groups of first reference holes 111 may be sequentially arranged on the first reference plate 100 along the x-axis direction, and symmetrically arranged. In the embodiments, the two groups of first reference holes 111 may be arranged in a one-to-one correspondence with the two groups of first mounting holes 311, and each first reference hole 111 corresponds to one first mounting hole 311.

[0051] In other embodiments, when the first assembly hole group 310 includes one, two, three or any other number of first assembly holes 311, the first reference hole group 110 may also include one, two, three or any other number of first reference holes 111, and the number of first reference holes 111 is equal to that of the first assembly holes 311, and they are set in a one-to-one correspondence.

[0052] like Figure 1 and Figure 2 As shown, in some embodiments, the first assembly hole group 310 includes a plurality of second assembly holes 312, which may be loop holes, and each second assembly hole 312 includes a snap-fit ​​portion 3121 for engaging with a modular accessory. The first reference hole group 110 may include a plurality of second reference holes 112, and the number of second reference holes 112 is equal to the number of second assembly holes 312. In addition, the second reference holes 112 may be correspondingly provided with the snap-fit ​​portions 3121 of the second assembly holes 312.

[0053] In some embodiments, the first mounting hole group 310 may include two second mounting holes 312, which may be located at the positions of the two groups of first mounting holes 311, and the second mounting holes 312 are located at the center of the area where the four first mounting holes 311 are located in the same group. Correspondingly, the first reference hole group 110 may include two second reference holes 112, which may also be located at the positions of the two groups of first reference holes 111, and the second reference holes 112 are approximately located at the center of the area where the four first reference holes 111 are located in the same group, and are correspondingly provided with the snap-fit ​​portion 3121 of the second mounting hole 312.

[0054] In other embodiments, when the first assembly hole group 310 includes one, three or four equal numbers of second assembly holes 312, the first reference hole group 110 may also include one, three or four equal numbers of second reference holes 112, which are equal in number to the number of second assembly holes 312, and the second reference holes 112 may be correspondingly provided with the snap-fit ​​portion 3121 of the second assembly hole 312.

[0055] like Figures 1 to 4 As shown, in some embodiments, the first mounting hole group 310 further includes a sixth mounting hole 313, which is used to connect other external modules (such as a Hall effect detection module, used to determine whether the modular accessory is correctly installed or detached). The sixth mounting hole 313 can be located along the x-axis on the side of one group of first mounting holes 311 away from another group of first mounting holes 311. The first reference hole group 110 may include a sixth reference hole 113, which is located on the side of one group of first reference holes 111 away from another group of first reference holes 111 and corresponds to the sixth mounting hole 313. In embodiments, the number of sixth mounting holes 313 can be set according to the installation needs of external modules, and correspondingly, the number of sixth reference holes 113 can be the same as the number of sixth mounting holes 313, and they correspond one-to-one.

[0056] like Figures 1 to 4 As shown, in some embodiments, the mounting plate 380 also has a weight-reducing hole 361. The weight-reducing hole 361 can be approximately a right-angled quadrilateral through-hole structure, and can have a side parallel to a first reference direction, which can be parallel to the x-axis direction. A positioning hole group 120 is correspondingly provided with the weight-reducing hole 361. The positioning hole group 120 includes a plurality of first positioning holes 121 corresponding to the side, and at least a portion of any first positioning hole 121 is exposed through the weight-reducing hole 361.

[0057] In some embodiments, there are three first positioning holes 121. The three first positioning holes 121 can be arranged sequentially at intervals along one of the weight reduction holes 361 parallel to the first reference direction, and each first positioning hole 121 is exposed relative to the weight reduction hole 361.

[0058] In other embodiments, the number of first positioning holes 121 may be two, four or five, etc. Multiple first positioning holes 121 may be arranged sequentially at intervals along one side of the weight reduction hole 361 parallel to the first reference direction, and the center of any first positioning hole 121 is located on the projection of the side of the weight reduction hole 361 onto the first reference plate 100, that is, part of the first positioning hole 121 is exposed through the weight reduction hole 361.

[0059] like Figures 1 to 4As shown, in some embodiments, the mounting plate 380 is provided with a plurality of slots 362 for engaging with modular accessories. A plurality of positioning hole groups 120 are provided in a one-to-one correspondence with the plurality of slots 362, and each positioning hole group 120 includes a plurality of second positioning holes 122 spaced apart sequentially along a second reference extension direction of the corresponding slot 362. The second reference direction may be parallel to the z-axis direction.

[0060] In some embodiments, the mounting plate 380 is provided with two slots 362, which are respectively disposed on both sides of the weight reduction hole 361 along the x-axis direction. In some embodiments, there are two positioning hole groups 120 corresponding to the two slots 362, and each positioning hole group 120 includes three second positioning holes 122 arranged sequentially at intervals along the z-axis direction.

[0061] In other embodiments, when the mounting plate 380 is configured with one, three, or four slots 362, there are an equal number of positioning hole groups 120. In addition, each positioning hole group 120 may include two, four, or five or more second positioning holes 122, and the second positioning holes 122 in the same group may be arranged sequentially at intervals along the second reference extension direction of the corresponding slot 362.

[0062] like Figure 1 As shown, the mounting plate 380 is also connected to two first connecting rods 320 for connection to the rear of the garden robot. The first connecting rods 320 can be square tube structures. The two first connecting rods 320 protrude from the side of the first mounting plate 380 opposite to the first mounting surface 301. The two first connecting rods 320 are correspondingly positioned on the side of the mounting plate 380 parallel to the z-axis, and are symmetrically arranged. Additionally, the first connecting rods 320 can be located at one end of the side of the mounting plate 380. In this embodiment, the mounting plate 380 also includes a connecting plate 340, which can be connected to the side of the mounting plate 380 opposite to the first mounting surface 301 via second connecting rods 330. Specifically, two second connecting rods 330 protrude from the side of the mounting plate 380 opposite to the first mounting surface 301, and the second connecting rods 330 can be plate-shaped structures. Two second connecting rods 330 are arranged at intervals opposite to each other. A connecting plate 340 can be connected to the end of the second connecting rod 330 away from the mounting plate 380, and the connecting plate 340 is arranged parallel to the mounting plate 380. In addition, along the z-axis direction, the second connecting rod 330 can be connected to the side of the mounting plate 380 away from the first connecting rod 320, and is located at the center of the mounting plate 380 along the x-axis direction.

[0063] like Figures 1 to 4As shown, in some embodiments, the first reference plate 100 has two first reference protrusions 130 protruding from one side facing the first reference surface 101, and the two first reference protrusions 130 are spaced apart from each other along the x-axis. When the first mounting surface 301 of the mounting plate 380 is attached to the first reference surface 101 of the first reference plate 100, the two first reference protrusions 130 are respectively disposed on both sides of the mounting plate 380 and are attached to the two first connecting rods 320 one by one. In some embodiments, a notch 131 is provided on the side of the two first connecting rods 320 that are close to each other, forming a first sidewall 132 and a second sidewall 133 that are perpendicular to each other. The first sidewall 132 may be parallel to the xy plane, and the second sidewall 133 may be parallel to the yz plane. During the test, the surface of the first link 320 parallel to the xy plane can be in contact with the first side wall 132 of the first link 320, and the surface of the first link 320 parallel to the yz plane can be in contact with the second side wall 133 of the first link 320.

[0064] In other embodiments, the first reference protrusion 130 may be a columnar structure. During testing, the surface of the first link 320 parallel to the xy plane may be in contact with the surface of the corresponding first link 320 on the side facing the mounting plate 380 that is also parallel to the xy plane; or, the surface of the first link 320 parallel to the zy plane may be in contact with the surface of the corresponding first link 320 on the side facing the mounting plate 380 that is also parallel to the zy plane.

[0065] In other embodiments, the side of the mounting plate 380 facing away from the first mounting surface 301 may also protrude with one, three, or four equal numbers of first connecting rods 320. When multiple first connecting rods 320 protrude from the side of the mounting plate 380 facing away from the first mounting surface 301, the multiple first connecting rods 320 are distributed around the periphery of the mounting plate 380. The side of the first reference plate 100 facing the first reference surface 101 may protrude with a number of first reference protrusions 130 equal to the number of first connecting rods 320, and the first reference protrusions 130 may be arranged in a one-to-one correspondence with the first connecting rods 320.

[0066] In some embodiments, a second reference protrusion 140 protrudes from the side of the first reference plate 100 facing the first reference surface 101. During testing, the second reference protrusion 140 can be inserted between the two second connecting rods 330 and respectively abut against the side surfaces of the two second connecting rods 330 that are close to each other. At the same time, the side surface of the second reference protrusion 140 facing away from the first reference surface 101 can abut against the side surface of the connecting plate 340 facing the mounting plate 380.

[0067] In some embodiments, a second assembly hole group 350 is provided on the connecting plate 340. A second reference hole group 150 is disposed on the side of the second reference protrusion 140 away from the first reference plate 100, and the second reference hole group 150 is configured as a setting reference for the second assembly hole group 350.

[0068] In some embodiments, the second mounting hole group 350 may include five third mounting holes 351, which may be bolt connection holes. Four of the third mounting holes 351 are located at the four corners of a right-angled quadrilateral, and the other third mounting hole 351 is located at the center of the right-angled quadrilateral. The third mounting holes 351 can penetrate the connecting plate 340 along the y-axis. In some embodiments, the second reference hole group 150 may include five third reference holes 151, which are arranged in a one-to-one correspondence with the five third mounting holes 351. That is, four of the third reference holes 151 are located at the four corners of a right-angled quadrilateral, and the other third reference hole 151 is located at the center of the right-angled quadrilateral. During testing, the machining accuracy of the five third mounting holes 351 can be detected by the five third reference holes 151.

[0069] In other embodiments, when the second assembly hole group 350 may include one, two, three, four or six third assembly holes 351, the second reference hole group 150 may include a number of third reference holes 151 equal to the number of third assembly holes 351, and the third reference holes 151 are provided in a one-to-one correspondence with the third assembly holes 351.

[0070] like Figure 2 and Figure 5 As shown, in some embodiments, four first flexible pads 160 protrude from the side of the first reference plate 100 opposite to the first reference surface 101, and the four first flexible pads 160 are respectively located at the four corners of the first reference plate 100. Thus, during the testing process, the first flexible pads 160 provide a flexible buffering function, avoiding the influence of assembly stress on the measurement results. Simultaneously, the first flexible pads 160 create a gap between the first reference plate 100 and the worktable, facilitating the removal of the first reference plate 100. In embodiments, the first flexible pads 160 can be fixedly connected to the first reference plate 100 by means of bonding, two-color injection molding, or hot-melt connection.

[0071] In other embodiments, the first reference plate 100 may also have three, five or six first flexible pads 160 protruding from the side opposite to the first reference surface 101. The multiple first flexible pads 160 can be evenly distributed on the side of the first reference plate 100 opposite to the first reference surface 101 to provide stable and reliable support for the first reference plate 100.

[0072] In some embodiments, the first flexible pad 160 extends from one end near the first reference plate 100 to the end away from the first reference plate 100, and the cross-sectional area of ​​the first flexible pad 160 parallel to the xz plane can gradually increase. That is, the first flexible pad 160 can be tapered, which can improve the stability of the first reference plate 100 placed on the worktable.

[0073] In other embodiments, the first flexible pad 160 may also be cylindrical or polygonal in shape.

[0074] like Figure 1 , Figure 6 and Figure 7 As shown, in some embodiments, the component to be tested 300 further includes a second mounting surface 302 intersecting the first mounting surface 301. The second mounting surface 302 may include a surface of the mounting plate 380 parallel to the xy plane and a surface of the first connecting rod 320 parallel to the xy plane. In some embodiments, the testing device further includes a second reference plate 200, which may be configured with a second reference surface 201 parallel to the xy plane. During the test, the second mounting surface 302 of the component to be tested 300 can be made to fit with the second reference surface 201, and the fit between the second mounting surface 302 and the second reference surface 201 can be detected and determined by, for example, determining whether the first mounting surface 301 and the first reference surface 101 are in contact.

[0075] In some embodiments, the test piece 300 is provided with a third assembly hole group 370 facing the second mounting surface 302. The second reference plate 200 is provided with a third reference hole group 210 facing the second reference surface 201, and the third reference hole group 210 is configured as the setting reference for the third assembly hole group 370.

[0076] In some embodiments, the third mounting hole group 370 may include four fourth mounting holes 371, which may be bolt connection holes. The four fourth mounting holes 371 may be located on the side of the mounting plate 380 facing the second mounting surface 302, and the four fourth mounting holes 371 may be arranged sequentially at intervals along the x-axis. Correspondingly, the third reference hole group 210 may include four fourth reference holes 211, which may be arranged sequentially at intervals along the x-axis, and the four fourth reference holes 211 correspond one-to-one with the four fourth mounting holes 371.

[0077] In other embodiments, when the third assembly hole group 370 includes one, two, three, or five or other numbers of fourth assembly holes 371, the third reference hole group 210 may also include one, two, three, or five or other numbers of fourth reference holes 211, and the number of fourth reference holes 211 is equal to the number of fourth assembly holes 371.

[0078] In some embodiments, the first connecting rod 320 may have a fifth mounting hole 372 facing the second mounting surface 302, that is, the third mounting hole group 370 further includes the fifth mounting hole 372. The fifth mounting hole 372 may also be a bolt connection hole.

[0079] In some embodiments, each first link 320 has three fifth mounting holes 372 on the side facing the second mounting surface 302. The three fifth mounting holes 372 on the same first link 320 are arranged sequentially at intervals along the y-axis. Correspondingly, the third reference hole group 210 may include two groups of fifth reference holes 212, each group may include three fifth reference holes 212. The two groups of fifth reference holes 212 may be arranged in a one-to-one correspondence with the fifth mounting holes 372 on the two first links 320, that is, one group of fifth reference holes 212 may correspond to the three fifth mounting holes 372 on one first link 320, and the three fifth reference holes 212 in the same group may be arranged in a one-to-one correspondence with the three fifth mounting holes 372 on the corresponding first link 320.

[0080] In other embodiments, when each first link 320 is provided with one, two or four equal numbers of fifth mounting holes 372, each group of fifth reference holes 212 may include the same number of fifth reference holes 212 as the number of fifth mounting holes 372 on each first link 320.

[0081] like Figure 6 and Figure 8 As shown, in some embodiments, four second flexible pads 220 are also provided on the side of the second reference plate 200 opposite to the second reference surface 201. These four flexible pads 220 are positioned near the four corners of the second reference plate 200. Thus, during testing, the flexible pads 220 provide a flexible buffering function, preventing the measurement results from being affected by assembly stress. Simultaneously, the flexible pads 220 create a gap between the second reference plate 200 and the worktable, facilitating the removal of the second reference plate 200. In embodiments, the flexible pads 220 can be fixedly connected to the second reference plate 200 by means of bonding, two-color injection molding, or hot-melt connection.

[0082] In other embodiments, the second reference plate 200 may also have three, five or six or more second flexible pads 220 protruding from the side opposite to the second reference surface 201. The multiple second flexible pads 220 can be evenly distributed on the side of the second reference plate 200 opposite to the second reference surface 201 to provide stable and reliable support for the second reference plate 200.

[0083] In some embodiments, the second flexible pad 220 extends from one end near the second reference plate 200 to the end away from the second reference plate 200, and the cross-sectional area of ​​the second flexible pad 220 parallel to the xy plane can gradually increase. That is, the second flexible pad 220 can be tapered, which can improve the stability of the second reference plate 200 placed on the worktable.

[0084] In other embodiments, the second flexible pad 220 may also be cylindrical or polygonal.

[0085] The embodiment also provides a detection system, including a control unit, a three-dimensional measurement unit, a data processing unit, and a detection device provided in the embodiment, which are connected in sequence by output and input.

[0086] Understandably, the control unit outputs control commands to the 3D measurement unit, enabling the 3D measurement unit to cooperate with the inspection device to inspect the workpiece. The control unit can be a Programmable Logic Controller (PLC) or an embedded system (such as STM32). The 3D measurement unit acquires spatial geometric data and outputs it to the data processing unit, a contact probe system (including a coordinate measuring machine, probes, and sensors), or a vision recognition system (including industrial cameras). The data processing unit receives and processes the inspection data output by the 3D measurement unit.

[0087] like Figures 1 to 8 As shown in the embodiment, when the detection device detects the workpiece 300, it can be achieved through the following steps:

[0088] Step 1: Assemble the part 300 to be tested, ensuring that all structural components of the part 300 are assembled. It should be noted that at this stage, the part 300 is not mounted on the garden robot.

[0089] Step 2 involves inspecting the workpiece 300 using the first reference plate 100, which may include the following operational procedures:

[0090] Step 2-1: Attach the first mounting surface 301 of the mounting plate 380 to the first reference surface 101 of the first reference plate 100, and attach the two first connecting rods 320 to the corresponding first reference protrusions 130 respectively. Insert the second reference protrusion 140 between the two second connecting rods 330 and attach it to the two second connecting rods 330. Also, attach the side surface of the second reference protrusion 140 away from the first reference plate 100 to the side surface of the connecting plate 340 facing the mounting plate 380.

[0091] In the embodiment, the three-dimensional measurement unit can be controlled by visual inspection or using the control unit to identify the fitting state of the workpiece 300 to be detected with the first reference plate 100, the first reference convex part 130 and the second reference convex part 140. When it is confirmed by visual inspection or according to the result output by the data processing unit that the workpiece 300 to be detected is completely fitted with the first reference plate 100, the first reference convex part 130 and the second reference convex part 140 (which means that the average distance between the contact surfaces of the two is within the allowable range), it can indicate that this item of the workpiece 300 to be detected is qualified. When it is confirmed by visual inspection or according to the result output by the data processing unit that the workpiece to be detected 300 is not completely fitted with the first reference plate 100, the first reference convex part 130 and the second reference convex part 140 (which means that the average distance between the contact surfaces of the two is not within the allowable range), it can indicate that the workpiece 300 to be detected is unqualified, and the unfitted part of the workpiece 300 to be detected can be reprocessed.

[0092] Step 2-2: Utilize the first assembly hole group 310 of the first reference plate 100, and use the control unit to control the three-dimensional measurement unit to detect the flatness of the mounting plate 380, and借助x-z坐标系。

[0093] When using the control unit to control the contact probe system for detection, the following steps can be included: First, connect the first assembly hole 311 of the mounting plate 380 and the first reference hole 111 on the first reference plate 100 with bolts to achieve the rigid connection between the mounting plate 380 and the first reference plate 100. Then, arrange the detection points according to a certain grid (3*3 or 5*5), and the probe touches each detection point of the mounting plate 380 in turn, and records the data of each probe in the y-axis direction, and outputs it to the data processing unit to calculate the plane fitting deviation. Use the least squares plane fitting or the minimum circumscribed plane algorithm to calculate the maximum height difference of the mounting plate 380 as the flatness. When the maximum height difference of the mounting plate 380 is less than or equal to the flatness threshold, it can indicate that the flatness of the mounting plate 380 is qualified. When the maximum height difference of the mounting plate 380 is greater than the flatness threshold, it can indicate that the flatness of the mounting plate 380 is unqualified, and the mounting plate 380 needs to be reworked and leveled.

[0094] When using the control unit to control the vision recognition system to detect the flatness of the mounting plate 380, the following steps can be included: Use a calibration block to perform three-dimensional calibration on the industrial camera, and define the y-axis direction as the vertical direction. Then, take images of the mounting plate 380 at multiple angles or in multiple regions by the industrial camera, output them to the data processing unit, use the images to construct a height map, extract height information, and compare it with the reference plane to calculate the maximum / minimum offset of the mounting plate 380, and obtain the flatness of the mounting plate 380.

[0095] Steps 2-3 involve using the positioning hole group 120 on the first reference plate 100 to check the parallelism of the mounting plate 380, referring to the xz coordinate system. Specifically, this includes (taking the first positioning hole 121 and the weight reduction hole 361 as examples):

[0096] The center positions of the three first positioning holes 121 are acquired by a visual recognition system and output to the data processing unit, where they are fitted into a straight line as a baseline. Then, the image of the weight reduction hole 361 is acquired by the visual recognition system and output to the data processing unit. The edge is obtained through image processing, and the image is calibrated and converted into a real coordinate system. The center line direction of the weight reduction hole 361 is fitted, and the inclination (angle deviation) or line spacing change (straightness) between the center line and the baseline is calculated. When the inclination or line spacing change of the center line relative to the baseline is less than or equal to the corresponding threshold, it indicates that the parallelism of the mounting plate 380 is qualified; when the inclination or line spacing change of the center line relative to the baseline is less than or equal to the corresponding threshold, it indicates that the parallelism of the mounting plate 380 is unqualified.

[0097] Alternatively, multiple detection points can be selected in the weight reduction hole 361 extending along the x-axis to the edge position, and the actual coordinates of each detection point can be collected by a probe. Straight line fitting can be performed on these detection points to obtain the direction vector of the edge extending along the x-axis in the weight reduction hole 361. The inclination (angle deviation) or line spacing change (straightness) between the direction vector of the edge of the weight reduction hole 361 and the baseline can be calculated to determine whether it is qualified.

[0098] Alternatively, the parallelism of the slot 362 can be detected using a similar parallelism detection method, which also enables the parallelism detection of the mounting plate 380 in the z-axis direction.

[0099] Steps 2-4: Using the first reference hole group 110 on the first reference plate 100, check whether the axes of each assembly hole in the first assembly hole group 310 on the mounting plate 380 are tilted or offset from the reference axis. Similarly, using the second reference hole group 150 on the second reference protrusion 140, check whether the axes of each third assembly hole 351 in the second assembly hole group 350 on the connecting plate 340 are tilted or offset from the reference axis. Specifically (taking the first assembly hole 311 on the mounting plate 380 and the first reference hole 111 on the first reference plate 100 as examples):

[0100] Using the centerline direction of the first reference hole 111 on the first reference plate 100 as the reference axis, multiple points (at least three points) corresponding to the opening of the first mounting hole 311 on the mounting plate 380 are measured using xyz coordinates or a high-precision contact probe system. The results are output to the data processing unit, which fits the centerline and direction vector of the first mounting hole 311 to obtain the center point position and axial direction of the first mounting hole 311, thus obtaining the axis of the first mounting hole 311. Then, the data processing unit calculates the angle between the axis of the first mounting hole 311 and the reference axis and compares this angle with a preset angle. When the angle is less than or equal to the preset angle, it can be determined that the first mounting hole 311 is not tilted. When the angle is greater than the preset angle, it can be determined that the first mounting hole 311 is tilted. Additionally, the minimum distance between the axis of the first mounting hole 311 and the reference axis is calculated and compared with a preset distance. When the minimum distance is less than or equal to the preset distance, it indicates that the first mounting hole 311 is not offset. When the minimum distance is greater than the preset distance, it indicates that the first mounting hole 311 is offset.

[0101] Step 3: Test the mounting plate 380 using the second reference plate 200. The specific operation procedure is as follows:

[0102] Step 3-1: The second mounting surface 302 of the mounting plate 380 is attached to the second reference surface 201 of the second reference plate 200. The attachment status between the second mounting surface 302 of the component under test 300 and the second reference plate 200 can be identified by the three-dimensional measurement unit. When the component under test 300 is completely attached to the second reference plate 200, it indicates that the component under test 300 passes this test. When the component under test 300 is not completely attached to the second reference plate 200, it indicates that the component under test 300 is unqualified, and the unattached parts of the component under test 300 can be reworked.

[0103] Step 3-2: Using the third reference hole group 210 on the second reference plate 200, check whether the axes of each assembly hole in the third assembly hole group 370 on the part to be tested 300 are tilted or offset from the reference axis. The specific operation is similar to step 2-4, and will not be repeated here.

[0104] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0105] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. A testing device for detecting the machining accuracy of a workpiece, characterized in that, The detection device includes a first reference plate; The first reference plate is provided with a first reference surface, and the first reference plate is provided with a first reference hole group and a plurality of positioning hole groups facing the first reference surface. The first reference hole group is configured as the setting reference for the first assembly hole group on the test piece. Each positioning hole group includes a plurality of positioning holes arranged sequentially along the corresponding reference direction.

2. The detection device of claim 1, wherein, The first reference hole group includes a plurality of first reference holes equal to the number of first assembly holes on the test piece, and the plurality of first reference holes are configured in a one-to-one correspondence with an equal number of first assembly holes; And / or, the first reference hole group includes a plurality of second reference holes equal to the number of second assembly holes on the test piece, and the plurality of second reference holes are provided in a one-to-one correspondence with the snap-fit ​​portions of an equal number of second assembly holes; And / or, the positioning hole group is provided corresponding to the weight reduction hole on the test piece, the weight reduction hole extends along the first reference direction, and the positioning hole group includes a plurality of first positioning holes arranged sequentially along the first reference direction; And / or, the positioning hole group is provided in a one-to-one correspondence with the slot on the test piece, each of the slots extends along the second reference direction, and the positioning hole group includes a plurality of second positioning holes arranged sequentially along the second reference direction.

3. The detection device according to claim 1 or 2, characterized in that The first reference plate has a plurality of first reference protrusions protruding from one side facing the first reference surface, and the plurality of first reference protrusions are configured to correspond one-to-one with a plurality of first connecting rods on the test piece.

4. The detection device of claim 3, wherein, The number of first links is two, and the two first links are spaced apart and opposite each other; The first reference plate has two first reference protrusions protruding from one side facing the first reference surface. The two reference protrusions are spaced apart and opposite to each other, and the two reference protrusions are configured to correspond and fit with the two first connecting rods one by one.

5. The detection device according to claim 1 or 2, characterized in that The first reference plate has a second reference protrusion protruding from one side facing the first reference surface. The second reference protrusion is configured to fit against the connecting plate and the second connecting rod on the test piece, respectively.

6. The detection device of claim 5, wherein, The second reference protrusion is configured to be inserted between the two connecting rods and to be in contact with the two connecting rods respectively; And / or, the end of the second reference protrusion away from the first reference plate is provided with a second reference hole group, and the second reference hole group is configured as the setting reference for the second assembly hole group on the connecting plate.

7. The detection device of claim 1, wherein, A first flexible pad is provided on the side of the first reference plate that is opposite to the first reference surface.

8. The detection device of claim 1, wherein, The detection device further includes a second reference plate, which is provided with a second reference surface. The second reference surface is configured to fit against the second mounting surface of the workpiece to be tested. The second reference plate is provided with a third reference hole group facing the second reference surface. The third reference hole group is configured as the setting reference for the third assembly hole group on the workpiece to be tested.

9. The detection device according to claim 8, characterized in that, The second reference plate has a second flexible pad protruding from the side opposite to the second reference surface.

10. A detection system characterized by, It includes a control unit, a three-dimensional measurement unit, a data processing unit, and a detection device as described in any one of claims 1 to 9, all connected in sequence to the input and output.

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